车载激光捷联惯导系统的快速初始对准及误差分析

研究车载激光陀螺捷联惯导系统的快速初始对准技术，采用双位置对准的技术方案，给出了双位置初始对准的基本原理及软件流程，对对准精度 实际测试，并对影响对准精度的误差源进行了分析，双位置对准方案，消除了陀螺常值漂移和加速度计零偏对对准精度的影响。

Fast Initial Alignment and Its Errors of RLG Strapdown Inertial Navigation System for Land Vehicle

To study the fast initial alignment of ring laser gyro (RLG) strapdown inertial navigation system for land vehicle, the two-position alignment technology was adopted, the principle and software flow of the method were presented, the alignment precision was tested and the error sources having influence on alignment precision were analyzed. The influences of gyro constant drift and accelerometer bias on alignment precision are eliminated by the two-position alignment method. Moreover the three gyros constant drifts and three acce1erometers biases were calibrated at alignment and compensated in the navigation state, so the navigation precision was improved effectively.