一种基于回溯过程的里程计辅助SINS初始对准方法

In order to improve in-motion initial alignment accuracy of land positioning and orientation system, an in-motion alignment method based on backtracking process for odometer aided strapdown inertial navigation system is proposed, which can shorten initial alignment time to a certain extent. The proposed method can be divided into coarse alignment stage and fine alignment stage. In the coarse alignment stage, the accuracy of the initial attitude matrix is improved by using the improved inertial frame analytical alignment based on the backtracking process. In the fine alignment stage, Kalman filter based on the backtracking process is used to further improve the attitude and position estimation accuracy. Simulation results show that the proposed method can independently and efficiently complete the high-accuracy initial alignment and position estimation aided by odometer. Compared with the existing algorithm, the yaw angle estimation accuracy is improved by 45.1%, and the position estimation accuracy is improved by 58.1%.