College of Automation, Harbin Engineering University, Harbin 150001, China.
College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China.
Sensors (Basel). 2018 Jul 2;18(7):2123. doi: 10.3390/s18072123.
Since the inertial sensor error has been modulated effectively by the Rotation Modulation Technique (RMT), the Rotation Strapdown Inertial Navigation System (RSINS) has been widely used for submarines in order to satisfy the requirement of high-accuracy and long working duration. The performance of the initial alignment is main factor affecting the accuracy of the Strapdown Inertial Navigation System (SINS). The traditional initial alignment algorithm based on the compass method has bad performance when the misalignment angle is large, which will make the submarine SINS fail to launch properly in a complex operating environment. Since the RSINS uses the mathematical platform to calculate the navigation information, it allows multiple algorithms to run simultaneously, and different algorithms do not interact with each other. Thus, to improve the alignment accuracy, an initial alignment algorithm based on the Dual Mathematical Calculation System (DMCS) is proposed; moreover, to solve the problem of large azimuth misalignment angle, an improved DMCS-based alignment algorithm is also presented in this paper. Both simulations and experiments showed that the novel algorithm can effectively improve the initial alignment performance under the large misalignment angle environment, enhancing the environmental suitability of the RSINS.
由于旋转调制技术（RMT）有效地调制了惯性传感器误差，旋转捷联惯性导航系统（RSINS）已广泛应用于潜艇，以满足高精度和长时间工作的要求。初始对准性能是影响捷联惯性导航系统（SINS）精度的主要因素。基于罗盘法的传统初始对准算法在大失准角时性能较差，这会使潜艇 SINS 在复杂的工作环境中无法正常启动。由于 RSINS 使用数学平台计算导航信息，它允许同时运行多个算法，并且不同的算法不会相互干扰。因此，为了提高对准精度，提出了一种基于双数学计算系统（DMCS）的初始对准算法；此外，为了解决大方位失准角问题，本文还提出了一种改进的基于 DMCS 的对准算法。仿真和实验结果表明，该新算法可以有效地提高大失准角环境下的初始对准性能，增强 RSINS 的环境适应性。
