逆向导航算法及其在捷联罗经动基座初始对准中的应用

Reverse navigation algorithms are deduced based on the classical strapdown inertial navigation system (SINS) updating algorithms. The scheme of SINS gyrocompass in-movement alignment is proposed and is divided into three steps, including leveling alignment with header uncertainty, coarse header alignment and gyrocompass alignment for header. On the assumption of navigation computer having large memory and powerful computing ability, the connection between in-movement alignment and vehicle position navigation are established by reverse navigation algorithm. After the process of SINS gyrocompass in-movement alignment and saving sensor’s samples to memory, reverse and normal dead reckoning algorithm are executed in succession to accomplish vehicle position updating. Finally, some vehicular tests prove that the proposed alignment algorithm in this paper is effective. In move base, the alignment accuracy of header reaches 0.112º(1σ) and the accuracy of position updating is about 0.1% by distance.