抗角晃动与线运动耦合干扰的捷联惯导自对准算法∗

摘要

捷联惯导系统在实际对准过程中，由于受到角晃动干扰与线运动干扰的耦合作用，难以快速高精度地完成自对准，针对该问题提出了一种抗角晃动与线运动耦合干扰的自对准算法。该算法将自对准问题转化为Wahba姿态求解问题，以消除角晃动干扰的影响；利用惯性系下的重力矢量信号的时域特性，采用时域信号处理方法来实现消除线运动干扰。仿真结果表明，该算法在角晃动干扰与线运动耦合干扰的作用下能够快速地实现自对准。%For the angular swaying and linear motion coupling interference,the strapdown inertial navigation system ( SINS) is difficult to achieve alignment rapidly and accurately. In order to solve this problem,an anti-interrupt self-a-lignment algorithm for angle swaying motion and linear motion coupling interference is presented. In this algorithm,the alignment problem is transformed into the Wahba problem to remove the angular swaying interference, and time-domain signal processing methods are used to remove the linear motion interrupt according to the time-domain charac-teristics of the gravity vector signal in inertial reference frame. The simulation results show that,the presented method can accomplish alignment quickly in the presence of the angular swaying and linear motion coupling interference.