针对船用星惯组合导航系统中惯性导航系统和星敏感器之间刚性和弹性两种不同的安装方式, 提出了一种星敏感器安装角的动态标校方法。该方法以星敏感器得到的姿态数据和惯导系统输出的姿态数据构建滤波观测量, 基于惯导误差传播方程构建状态方程, 通过 Kalman滤波实现对惯导系统姿态误差和星敏感器安装误差的动态最优估计。基于“远望三号”航天测量船的实测导航数据、船体弹性角形变数据对该动态标校方法进行了仿真测试, 结果表明星敏感器与捷联惯导系统之间本地刚性安装时安装角动态标校误差较小, 异地弹性安装时由于安装误差角的动态变化导致标校误差较大。

A dynamic calibration method was proposed to determine the relative orientation of the axes of the strapdown inertial navigation system (SINS) and the CCD star sensors (CSS) for shipboard SINS/CSS system at the rigid and flexure installation conditions. Specifically, the Kalman filtering method is utilized to estimate the SINS attitude error and the CSS installation error, in which the observation function is founded by using the attitude data separately measured by CSS and SINS, and the state function is constructed by using SINS navigation error functions. To validate the proposed calibration method, the simulation experiments are studied by using the actual navigation data and ship flexure data measured by Yuanwang Ⅲ TT&C ship. Results show that the calibration can achieve a high accuracy when the CSS and the SINS are rigidly installed together, while the calibration error will increase when the CSS and the SINS are separately installed at different locations for ship flexure influence.