摘要
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.
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.
出处
《控制与决策》
EI
CSCD
北大核心
2014年第3期546-550,共5页
Control and Decision
基金
国防预研基金项目(2001D1302)
关键词
惯导系统
晃动基座
自对准
抗干扰
inertial navigation system
swaying base
self-alignment
anti-interference
作者简介
王跃钢（1958-），男，教授，博士生导师，从事导航制导与控制、导弹测试技术等研究；
杨家胜（1985-），男，博士生，从事惯性导航及测试技术的研究．
