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捷联式惯性导航系统初始对准理论与方法 
定 价：159 元
9 7 6 8 4 7 6 0 2 3 8 0 6 读者对象:高年级本科生、研究生、惯性技术从业者。 
惯性导航作为一类自主导航技术手段，在航空、航天、航海以及车辆导航领域有着重要的应用。初始对准技术一直是惯性导航的核心和关键技术之一，对准精度、对准速度以及方法的稳定性在很大程度上决定了导航系统性能。本书系统地阐述了捷联式惯性导航初始对准的原理和方法，共
分为10 章，主要内容包括捷联式结论、SIVS 导航解算与误差传播、初始对准的基本原理与方法、解析对准法、罗经法对准、组合对准、传递对准以及地磁场辅助对准等。
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目 录
前言
第1 章 绪论 ····················································································· 1
1.1 惯性导航系统与捷联式惯性导航系统 ·········································· 1
1.1.1 惯性导航系统 ················································································· 1
1.1.2 捷联式惯性导航系统 ········································································ 2
1.2 惯性导航系统的初始对准 ························································· 3
1.2.1 初始对准问题的描述 ········································································ 3
1.2.2 初始对准方法的综述 ········································································ 4
1.2.3 初始对准中基座运动的定义与分类 ······················································ 7
1.3 本章小结 ·············································································· 7
第2 章 SINS 导航解算与误差传播规律 ··················································· 8
2.1 引言 ···················································································· 8
2.2 地球描述与常用坐标系的定义 ··················································· 8
2.3 SINS 导航解算算法 ································································ 10
2.3.1 SINS 姿态更新 ·············································································· 10
2.3.2 SINS 速度更新 ·············································································· 11
2.3.3 SINS 位置更新 ·············································································· 11
2.4 SINS 误差传播方程 ································································ 12
2.4.1 仪表误差模型 ··············································································· 12
2.4.2 姿态误差方程 ··············································································· 13
2.4.3 速度误差方程 ··············································································· 15
2.4.4 位置误差 ····················································································· 16
2.4.5 SINS 常用误差模型 ········································································ 16
2.5 静止条件下的SINS 误差模型 ··················································· 17
2.5.1 误差模型与误差动态特性 ································································ 17
2.5.2 系统误差时域解 ············································································ 20
2.6 本章小结 ············································································· 23
第3 章 SINS 初始对准的基本原理与方法 ··············································· 24
3.1 引言 ··················································································· 24
·iv· 捷联式惯性导航系统初始对准理论与方法
3.2 初始对准的基本原理 ······························································ 24
3.2.1 姿态矩阵与失准角的描述 ································································ 24
3.2.2 地球运动与初始对准的信息源 ·························································· 26
3.2.3 已对准设备与初始对准信息源 ·························································· 31
3.2.4 地磁场信息与初始对准信息源 ·························································· 32
3.3 初始对准的基本方法 ······························································ 33
3.3.1 数学解析法 ·················································································· 33
3.3.2 反馈控制法 ·················································································· 34
3.4 Kalman 滤波理论与方法 ·························································· 35
3.4.1 Kalman 滤波原理 ··········································································· 35
3.4.2 非线性滤波器EKF ········································································· 38
3.5 本章小结 ············································································· 40
第4 章 基于双矢量定姿的静基座解析对准 ············································· 41
4.1 引言 ··················································································· 41
4.2 基于重力加速度与地球自转的解析粗对准 ··································· 41
4.2.1 双矢量选择 ·················································································· 41
4.2.2 解析粗对准的精度分析 ··································································· 43
4.3 基于重力视加速度的解析对准 ·················································· 46
4.3.1 基于重力视加速度的解析对准原理 ···················································· 46
4.3.2 基于重力视加速度的解析对准精度分析 ·············································· 48
4.3.3 双矢量定姿中矩阵病态性分析 ·························································· 51
4.3.4 两种解析方法的比较分析 ································································ 53
4.4 基于重力视加速度解析对准的改进 ············································ 54
4.4.1 基于重力视速度的解析对准方法 ······················································· 54
4.4.2 基于参数辨识与视加速度重构的解析对准方法 ····································· 55
4.4.3 基于重力视加速度解析对准方法改进前后的比较 ·································· 58
4.5 无纬度条件下的基于重力视加速度解析对准方法 ·························· 58
4.5.1 基于重力视加速度无纬度解析对准基本原理 ········································ 58
4.5.2 基于重力视加速度无纬度解析对准算法 ·············································· 59
4.6 本章小结 ············································································· 61
第5 章 基于多矢量定姿的动基座解析对准 ············································· 63
5.1 引言 ··················································································· 63
5.2 导航坐标系速度辅助条件下的多矢量解析对准 ····························· 63
5.2.1 运动基座条件下的比力方程与初始对准 ·············································· 63
5.2.2 基于四元数描述的多矢量定姿问题 ···················································· 66
目 录 ·v·
5.2.3 Wahba 问题求解 ············································································ 67
5.3 载体坐标系速度辅助条件下的多矢量解析对准 ····························· 69
5.4 本章小结 ············································································· 70
第6 章 基于经典控制理论的罗经法对准 ················································ 71
6.1 引言 ··················································································· 71
6.2 静基座条件下的罗经法对准 ····················································· 71
6.2.1 水平精对准 ·················································································· 71
6.2.2 方位精对准 ·················································································· 75
6.2.3 罗经法对准参数设置 ······································································ 78
6.3 运动基座条件下的罗经法对准 ·················································· 80
6.3.1 基于外部速度/位置辅助的行进间罗经对准设计 ···································· 80
6.3.2 运载体机动与回路参数设计 ····························································· 81
6.4 基于存储数据/回溯计算的罗经法对准 ········································ 82
6.4.1 SINS 数学平台与数据回溯利用的原理 ················································ 82
6.4.2 基于存储数据/回溯计算的罗经法设计与实现 ······································· 83
6.5 本章小结 ············································································· 86
第7 章 基于现代控制理论的组合对准 ··················································· 88
7.1 引言 ··················································································· 88
7.2 组合对准的原理与方案设计 ····················································· 88
7.2.1 组合对准的基本原理 ······································································ 88
7.2.2 组合对准中状态量的选择 ································································ 89
7.2.3 组合对准过程校正方式的选择 ·························································· 90
7.2.4 滤波参数的设计选择 ······································································ 92
7.3 基于运载体零速约束的组合对准 ··············································· 92
7.3.1 基于比力匹配的组合对准 ································································ 93
7.3.2 基于零速约束的组合对准 ································································ 97
7.3.3 零速约束条件下的比力匹配与速度约束方案比较 ································ 102
7.4 基于外部线运动信息辅助的组合对准 ······································· 102
7.4.1 基于导航坐标系速度信息辅助的组合对准 ········································· 102
7.4.2 基于位置信息辅助的组合对准 ························································ 105
7.4.3 基于导航坐标系速度+位置信息辅助的组合对准 ·································· 108
7.4.4 基于载体坐标系速度信息辅助的组合对准 ········································· 109
7.5 组合对准与罗经法对准的比较分析 ·········································· 111
7.5.1 相似性分析 ················································································ 111
7.5.2 相异性分析 ················································································ 113
·vi· 捷联式惯性导航系统初始对准理论与方法
7.6 本章小结 ··········································································· 113
第8 章 组合对准中的可观测性分析 ···················································· 114
8.1 引言 ················································································· 114
8.2 线运动匹配的组合对准中误差解析条件分析 ······························ 114
8.2.1 速度匹配基本原理 ······································································· 114
8.2.2 速度匹配中的各状态量解析条件分析 ··············································· 115
8.2.3 基于速度匹配的组合对准问题再分析 ··············································· 119
8.3 本章小结 ··········································································· 122
第9 章 基于现代控制理论的传递对准 ················································· 123
9.1 引言 ················································································· 123
9.2 传递对准的基本原理 ···························································· 123
9.2.1 传递对准中的时空一致性问题 ························································ 123
9.2.2 传递对准的匹配模式与机理 ··························································· 124
9.3 主/子惯性导航系统之间信息空间一致性问题建模 ······················· 125
9.3.1 主/子惯性导航系统之间安装误差问题 ·············································· 125
9.3.2 主/子惯性导航系统之间准静态挠曲变形 ··········································· 126
9.3.3 主/子惯性导航系统之间高频挠曲变形 ·············································· 126
9.3.4 主/子惯性导航系统之间杆臂效应 ···················································· 128
9.4 测量参数匹配 ····································································· 129
9.4.1 加速度计测量参数匹配 ································································· 129
9.4.2 陀螺仪测量参数匹配 ···································································· 136
9.4.3 加速度计/陀螺仪测量参数组合匹配 ················································· 141
9.5 计算参数匹配 ····································································· 142
9.5.1 姿态匹配 ··················································································· 142
9.5.2 速度匹配 ··················································································· 148
9.5.3 位置匹配 ··················································································· 148
9.5.4 速度+姿态匹配 ············································································ 149
9.6 组合参数匹配 ····································································· 151
9.7 舰载环境下基于速度+航向匹配的对准方案设计 ························· 152
9.7.1 问题分析 ··················································································· 152
9.7.2 传递对准中的速度+航向对准方案 ···················································· 152
9.8 本章小结 ··········································································· 155
第10 章 地磁场辅助解析对准 ··························································· 156
10.1 引言 ················································································ 156
10.2 地磁场辅助解析对准方法衣分析 ············································ 156
目 录 ·vii·
10.2.1 地磁场分布特点 ········································································· 156
10.2.2 地磁场辅助解析方位对准方法 ······················································· 156
10.2.3 地磁场辅助解析方位对准的精度分析 ·············································· 157
10.3 磁力计的误差分析与标定补偿 ··············································· 158
10.4 基于互补滤波方法的地磁场辅助解析对准 ································ 160
10.5 本章小结 ·········································································· 160
参考文献 ························································································ 161
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