针对遥感飞机长时间直线飞行作业时,由于SINS/GPS组合导航系统可观测度低导致系统精度下降的问题,提出了一种基于可观测度分析与杆臂误差补偿的空中机动对准新方法。该方法将归一化处理后的系统状态可观测度作为反馈因子,在空中对准过程中根据反馈因子对SINS系统进行自适应反馈校正,同时补偿了影响GPS观测量精度的杆臂效应误差。半物理仿真结果表明,该方法与传统方法相比,有效地提高了空中机动对准的精度。 Aiming at the long-time straight-line flight operation of remote sensing aircraft, a new method of air maneuver alignment based on observability analysis and compensation of lever-arm error is proposed due to the low observability of SINS / GPS integrated navigation system. In this method, the normalized state observability of the system is used as the feedback factor. During air alignment, the SINS system is adaptively feedback-corrected according to the feedback factor, and the error of the arm-arm effect that affects the accuracy of GPS observations is compensated. The results of semi-physical simulation show that compared with the traditional method, this method effectively improves the accuracy of aerial maneuvering alignment.