| ??????????С???SINS?????? |
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| 引用本文： | 吴富梅,杨元喜.??????????С???SINS??????[J].大地测量与地球动力学,2010,30(5):129-134. |
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| 作者姓名： | 吴富梅 杨元喜 |
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| 作者单位： | 1. 解放军信息工程大学测绘学院,郑州,450052;西安测绘研究所,西安,710054
2. 西安测绘研究所,西安,710054 |
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| 基金项目： | 国家自然科学基金，国家863计划项目，卫星导航与定位教育部重点实验室(B类)开放基金，信息工程大学博士研究生创新基金 |
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| 摘 要： | ??????????????y???SINS??????????????????????????С?????????????????????SINS?????????????????????????SINS?????????????????????????λ?????????????????????????????????????????????????????????С??????????????????????????????????????????????????????????????????????????????????????Kalman???????????????????С???????????????????y??????????????????????????????Kalman???????????????????????????С??????????????????y???????????
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| 关 键 词： | ????????????? ?????? ????? ???С? Kalman??? |
A NEW METHOD OF SINS INITIAL ALIGNMENT BASED ON MINIMUM OF CUMULATED ERROR |
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| Wu Fumei,Yang Yuanxi.A NEW METHOD OF SINS INITIAL ALIGNMENT BASED ON MINIMUM OF CUMULATED ERROR[J].Journal of Geodesy and Geodynamics,2010,30(5):129-134. |
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| Authors: | Wu Fumei Yang Yuanxi |
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| Institution: | 1)Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 4500522)Xi’an Research Institute of Surveying and Mapping, Xi’an 710054 |
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| Abstract: | A new method of SINS initial alignment based on the minimum of cumulated error is presented for the situation of short time for initial alignment. Firstly,the mechanization and the error formulas of SINS are given. Furthermore the relation between attitude angles and cumulated errors are deduced based on position error and velocity error formulas, and the principle of fixing initial yaw angle based on cumulated error checking is given. Finally,two real experiments are carried out to show that when the initial static time is long enough, Kalman filtering and the new method can both bring about good results; but when the initial static time is very short, Kalman filtering can not obtain accurate yaw angle while the new method is able to fix the accurate yaw angle. |
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| Keywords: | SINS initial alignment yaw minimum of cumulated error Kalman filtering |
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