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中文摘要：
为满足惯导系统初始对准中精度和快速性的要求,提出了初始对准新方法。深入研究了初始对准的原理;引入了新的姿态误差模式,分析并推导了新的坐标矩阵模型,采用分步处理误差的方法,改善航向角误差大而积累的问题;利用水平姿态角进行递推运算,免除了航向角误差对水平姿态对准的影响,提高了航向姿态对准的精度。最后,建立了基于误差分离的惯导系统仿真平台,通过实验证实了误差分离方法的有效性。
英文摘要：
A new initial alignment method was proposed to meet the requirements of precision and efficiency on inertial navigation system （INS）. The principle of initial alignment was studied; A new attitude error model was introduced to resolve the problem of large and accu- mulated heading error; New attitude matrix models were deduced, and leveling and heading attitude errors were processed step-by-step; Leveling attitude was used directly and indirectly in recursive operation to avoid the heading angle error effect on the leveling attitude align-ment and improve the heading alignment. Finally, the simulation platform of INS based on error separation was built.
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