捷联惯导惯性系动基座对准算法研究

针对船载等晃动基座环境,利用多级低通FIR数字滤波器和过渡的惯性坐标系,实现了惯性系动基座对准。分析表明,对准精度取决于等效的东向陀螺漂移大小以及FIR滤波器组的特性,该方法的对准时间长短取决于FIR滤波器组的阶次,并从原理上解决了大失准角问题。实验结果表明:惯性系对准新方案的对准精度与传统罗经方法精度相当,但新方法收敛更快,而且适用于任意失准角。

Study on SINS Alignment Algorithm with Inertial Frame for Swaying Bases

A novel alignment method for swaying base,such as a sailing ship,is presented with the aid of a cascade of FIR filters and a transitional inertial frame.For the method,an investigation was made about the error characteristics,which shows that the alignment accuracy mainly depends upon the equivalent biases of gyroscopes in east direction and performance of FIR filter group,the aligning time rests with the orders of the FIR filter group,and the problem of large initial misalignment is resolved in theory.Results of experiments show that the proposed method converges much faster than the traditional methods at no cost of precision and also works well under any large initial misalignment.