传递对准中主惯导参考信息滞后处理方法研究

给出了传递对准过程中补偿主惯导系统( MINS)输出数据延迟的方法。该方法在子惯导系统( SINS)获得主惯导的参考数据时，将时间基准统一到主惯导数据对应时刻进行卡尔曼滤波处理，通过时间更新得到当前时刻的子惯导误差估计值。计算机仿真结果表明对数据滞后进行补偿后改善了传递对准的性能。在要求快速高精度对准的情况下，考虑主惯导参考数据滞后是必要的。

Study on the Master Inertial Navigation System Reference Data Delay Processing Method in Transfer Alignment

A method for processing the problem resulting from master inertial navigation system (MINS) data delay in transfer alignment was presented. When the slave inertial navigation system (SINS) got the MTNS reference data, the data was processed by Kalman filtering and the time origin was unified to the moment corresponding to the MINS data; the current error estimation of the SINS was obtained by time update. Simulation results show that the transfer alignment performance is im?proved by compensating data delay; in the fast and high accuracy alignment it is necessary to take the MINS reference data delay into account.