基于陀螺信息的SINS快速抗干扰初始对准

摘要

In order to achieve fast initial alignment of Strap-down Initial Navigation System (SINS) with gyros information under circumstance of disturbance and strong noise,Quasi-Equality Constrained Kalman Filter (QECKF) was introduced,based on which the model of SINS initial alignment was established.According to the characteristics of the SINS onboard land vehicles,it was proposed to use IIR low-pass filter at first for noise reduction,then the filtering method of QECKF together with KF.The scheme made full use of the gyro information,and could realize fast initial alignment.Result of the test under disturbance of engine and operators showed that the speed of the algorithm was increased by 25％ compared with the normal KF.The algorithm solved the problem of estimation divergence of the normal method.%为了解决存在干扰或较大噪声的情况下,利用陀螺信息实现捷联惯导系统(SINS)快速初始对准,首先引入了带高斯噪声等式约束的卡尔曼滤波算法(QECKF),建立了基于QECKF算法的SINS初始对准模型;然后,从车载捷联惯导系统的实际特征出发,提出首先使用IIR低通滤波器降噪,再通过模糊判据结合QECKF算法和卡尔曼滤波(KF)两种滤波方法,该方案实现了陀螺信息的最优化应用以达到快速对准的目的;最后,试验表明在系统受发动机和人员操作的扰动下,该算法相比于常规KF估计将速度提高了近25％,解决了在噪声较大时基于扩展观测量的方法估计发散问题.