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中文摘要：
针对单轴旋转式捷联惯性导航系统,提出了一种基于惯性测量单元（inertial measurement unit,IMU）旋转的三位置初始对准方法。在系统可观测性分析的基础上,建立IMU姿态与失准角之间的关系,提出了使失准角估计偏差为零的三位置对准方法。与以往固定位置对准和两位置对准进行了比较,表明该方法可以消除不可观测的水平加速度计零偏和东向陀螺常值漂移对初始对准精度的影响,大大提高了系统初始对准精度。
英文摘要：
Based on IMU rotation,this paper presents a three-position initial alignment method for single-axis rotation strapdown inertial navigation system（SINS）.At first,the mathematical relationship between IMU attitude and alignments is established based on system observability analysis.Then,a new three-position alignment method that makes alignment estimation errors to zero is presented.Result shows that compared with fixed position alignment and two-position alignment,the effects of unobservable horizontal accelerometer bias and eastern gyro constant drift can be eliminated with this method,and the initial alignment accuracy can be greatly improved.
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