自动化学报Issue(9)：2051-2057,7.DOI:10.3724/SP.J.1004.2014.02050
动态干扰条件下的旋转式捷联惯导系统自对准方法
A Self-alignment Method for Rotary SINS under Conditions of Dynamic Disturbance
摘要
Abstract
As the carrier would undergo angular and linear swaying in various dynamic disturbance cases, rotary strapdown inertial navigation system (Rotary SINS) is difficult to real-ize self-alignment. In order to solve this problem, a new self-alignment method based on inertial reference frame was pro-posed. Firstly, based on the coarse alignment results in the inertial frame, the initial fine alignment error models of a dual-axis rotation modulation of rotary SINS in the inertial frame is derived. Then, aiming at the noise uncertainty of the observa-tion model, by changing the embedded manner of fading factors, this paper proposes an improved adaptive Kalman filter based on multiple fading factors. Finally, simulation results show that the proposed method can effectively solve the self-alignment prob-lem of rotary SINS in dynamic disturbance cases, realizing rapid and accurate self-alignment.关键词
旋转式捷联惯导系统/初始对准/惯性系/自适应滤波/多渐消因子Key words
Rotary strapdown inertial navigation system (Ro-tary SINS)/initial alignment/inertial frame/adaptive filter/mul-tiple fading factors引用本文复制引用
裴福俊,朱莉,刘璇..动态干扰条件下的旋转式捷联惯导系统自对准方法[J].自动化学报,2014,(9):2051-2057,7.基金项目
国家自然科学基金(60975065),北京市青年拔尖人才培育计划(CITTCD201304046)资助Supported by National Natural Science Foundation of China (60975065), Beijing City Youth Talent Development Plan (CITTCD201304046) （60975065）
