晃动基座下捷联惯导的抗干扰自对准算法

针对捷联惯导(SINS) 晃动基座下, SINS 难以快速实现自对准的问题, 提出SINS 的抗干扰自对准算法. 该算法通过将初始对准问题转化为Wahba 求解问题来消除角运动干扰的影响; 利用惯性坐标系重力矢量和晃动干扰加速度的频率特点, 通过设计低通滤波器对比力在惯性坐标下的投影进行滤波来消除线振动干扰的影响. 仿真结果表明, 该算法不需要进行粗对准, 能够在角运动干扰和线振动干扰同时存在的情况下快速实现自对准.

SINS anti-interference self-alignment algorithm for the swaying base

The conventional methods are difficult to achieve alignment rapidly when the strapdown inertial navigation system(SINS) under swaying base. Therefore, an anti-interference self-alignment algorithm for the swaying base is presented, which transforms the alignment problem into the Wahba problem to remove the angular interrupting, and uses the low-pass filter to filter the special force in inertial reference frame to remove the linear vibration interrupting according to the different frequency characteristics of gravity vector in inertial reference frame and the disturbance. The simulation results show that the presented method can accomplish alignment quickly even in the presence of angular motion and linear vibration interference without the coarse alignment process.