提出一种车载捷联惯导行进间对准方法。以里程计信息为辅助，将行进间对准过程分为粗对准和精对准，以惯性坐标系作为捷联惯导解算的参考基准并借助里程计信息进行粗对准，采用10状态Kalman滤波器进行精对准，观测量采用捷联惯导解算的速度与里程计解算得到的速度之差。进行仿真试验和实车试验，试验结果表明：该方法实现了行进间初始对准，兼容静基座及晃动基座初始对准，对行车路线及行进方式不做要求，捷联惯导在25 min内实现了和静基座对准相同的精度，对准精度与对准的时间正相关，对准时间越长对准精度越高。%A SINS alignment algorithm for marching vehicles was presented. Alignment process was parted into coarse alignment and precise alignment. Coarse alignment was achieved in the inertial coordinate system with the aid of distance-transfer-unit. Precise alignment was achieved through Kalman filter with ten states. Then the difference between the velocities obtained respectively from the inertial coordinate system and the DTU was observed. By simulation experiments and real vehicle tests, alignment for marching vehicles was realized both in the static and swaying base conditions. When driving route or mode is not limited, SINS achieved an alignment precision same as static base alignment in twenty-five minutes. Precision of alignment was positively relevant to the time of alignment. The longer the alignment took, the higher the precision was.
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