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中文摘要：
二位置对准能够提高捷联惯导系统初始对准精度的原因有惯性器件常值误差的自补偿和改善系统可观测性两方面。首先,为了研究单轴旋转惯导系统的误差补偿机理,建立了系统误差模型,引入了等效惯性器件常值误差,然后,从等效陀螺常值漂移的角度出发,推导了最优二位置对准方案,代入误差传播方程可知,该方案能够抑制水平等效陀螺常值漂移,进而减小航向角误差;最后,建立了卡尔曼滤波模型,采用奇异值分解法证实了二位置对准能够改善系统可观测性,并开展了相关试验。试验结果表明,该方案可使初始对准精度达到36.441 4″（1σ）。
英文摘要：
The two-position alignment can increase the precision of SINS initial alignment due to two reasons that are the compensation of inertial devices constant errors and the improvement of system observability. Firstly in order to study the error compensation principle of single-axis rotary SINS, the system error model is established, and the equivalent constant errors of inertial devices is introduced. Then the optimal two-position alignment scheme is deduced from the view of the equivalent gyro constant drift. A conclusion that two-position alignment can restrain horizontal equivalent gyro constant drift and decrease azimuth error is reached by substituting into the error propagation equations. Finally, the Kalman filter model is established and the method of two-position alignment to improve system obserbability is verified and the relevant experiment is carried out. The results show that the proposed scheme can increase the alignment precision to 36. 441 4＂（1σ）.
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