本文探究动基座下捷联惯导设备的不同对准方法对导航定位精度的影响。采用搭载差分GPS、捷联惯导、多普勒计程仪的遥控机器人在海面系泊5 min后进行往复运动。以双天线GPS的定位结果作为参考，对比采用不同初始对准方法后组合导航的定位误差。在有限的初始对准时间内，多矢量定姿相较于双矢量定姿获得的航行器初始姿态更为准确与稳定。将对准分为粗对准与精对准阶段，在精对准分别为100 s和250 s的情况下，20分钟组合导航的平均误差分别为3.59 m和3.37 m，各降低了20.16%和26.15%。表明在动基座下，多矢量定姿比双矢量定姿能得到更高精度的初始对准结果，采用精对准进一步提升了初始对准的精度，最终获得了更高精度的组合导航结果。
The effects of different alignment methods of Strapdown Inertial Navigation System under a moving base is investigated. A remotely operated vehicle equipped with differential GPS, SINS, and Doppler velocity log is moored at the surface for 5 minutes and then moves back and forth. The positioning results from dual-antenna GPS are used as a reference, and the differences in positioning errors between using different initial alignment methods are compared. Within the limited initial alignment time, multi-vector attitude determination yields more accurate and stable initial attitudes than dual-vector attitude determination. The alignment process is divided into coarse alignment and fine alignment stages, and when the fine alignment duration is set to 100 seconds and 250 seconds, respectively, the average positioning error after 20 minutes is reduced to 3.59 meters and 3.37 meters, which are 20.16% and 26.15% lower than before. This indicates that on the moving base, multi-vector attitude determination achieves higher accuracy of initial alignment results than dual-vector attitude determination, and adopting precise alignment further enhances the accuracy of initial alignment, resulting in more precise integrated navigation outcomes.
2025,47(12): 117-122 收稿日期：2014-6-30
DOI：10.3404/j.issn.1672-7649.2025.12.021
分类号：U666
作者简介：张培(1995-),男,硕士,工程师,研究方向为导航定位
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