| One of the key technologies of SINS is the initial alignment, whose accuracy affects the technique performances of navigation of the strap-down inertial navigation system (SINS). Generally, Selfalignment method is adopted in the initial alignment of SINS, that is, Selfalignment is realised by using accelerometer and gyroscope measuring the acceleration of gravity and the angle speed of the earth's rotation, but there exist many kinds of stochastic factors in the system, the precision and the interval of the initial alignment conflict, the higher precision required, the longer time needed. The application of H_∞robust filtering method has provided an effective method for fast alignment of SINS, the Selfalignment through H_∞robust filtering, namely the optimal estimation for error angle of the platform, the reference frame is aligned via system revising. The result of simulation has indicated that the application of H_∞robust filtering to SINS's Selfalignment has a good effect. Because H_∞robust filtering can solve the problems in the applications of Kalman filtering with high accuracy and robustness, the H_∞robust filtering has become the hotspots in the initial alignment research.The initial alignment of vehicle in moving state is studied mostly in this paper aiming at fast response of the vehicle carried SINS. Since the accuracy and the start-up interval of INS have much relation to the initial alignment, the technique of the initial alignment of INS has become one of the research hotspots in the filed of inertial navigation recently. This paper studies the initial alignment algorithem of SINS.The main work is as follows:Firstly, the mathematical model for the alignment of SINS in the moving state is established.Secondly, the H_∞robust filtering is studied and the H_∞robust filtering equation is established.Thirdly, the observability of SINS is analyzed .In the observability analysis, the model is considered as a constant system in the stationary base alignment and... |
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