Two-position alignment for SINS based on north gyroscope bias self-observations
PENG Zhuo1,2, GUO Meifeng1, ZHANG Rong1, LUO Shouhong1
1. Engineering Research Center for Navigation Technology, Department of Precision Instrument, Tsinghua University, Beijing 100084, China;
2. Astronaut Center of China, Beijing 100094, China
Abstract：The traditional one-position initial alignment system for the strap-down inertial navigation system (SINS) is not completely observable because the unobservable east gyroscope bias creates a large heading error. The two-position method can improve the observability but always needs an additional precise rotator which is impractical. This paper describes a two-position method based on a north gyroscope bias self-observation, which only needs two arbitrary approximate horizontal positions. The north gyroscope bias is extracted from one position and transmitted to the other position as an observation to make the east gyroscope bias observable and reduce the heading error. The rotation angle is optimized using a comprehensive degree of observability which includes a relative degree of observability and an order of observability. The relative degree of observability indicates the observability of the same state for different conditions while the order of observability indicates the convergence rate. The relative degree of observability shows that the optimal rotation angle is ±90°, which is verified by numerical simulations. Tests show that this two-position method reduces the heading error from 0.268° to 0.041° and estimates the horizontal gyroscope bias.
彭卓, 郭美凤, 张嵘, 罗寿红. 基于北向陀螺零偏自观测的捷联惯性导航系统双位置初始对准方法[J]. 清华大学学报（自然科学版）, 2016, 56(10): 1066-1071,1078.
PENG Zhuo, GUO Meifeng, ZHANG Rong, LUO Shouhong. Two-position alignment for SINS based on north gyroscope bias self-observations. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1066-1071,1078.
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2016, Vol. 56 
