复杂干扰环境下捷联惯导自对准算法

SINS self-alignment algorithm under complex interference environment

针对在包含有角晃动干扰、高低频线运动干扰以及突变干扰等复杂干扰环境下,捷联惯导系统难以快速高精度实现对准的问题,提出了复杂干扰环境下捷联惯导自对准算法。该算法通过将自对准问题转化为Wahba姿态求解问题来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、频域特性,用低通滤波器法和时域信号处理方法来消除高、低频线运动干扰和突变干扰,并同现有算法仿真比较,验证了算法有效性。仿真结果表明,该算法在上述复杂干扰环境下180 s时方位对准精度收敛到10′以内,300 s时方位对准精度达到4.75′,能够实现较高精度的快速自对准。

SINS is difficult to rapidly and accurately achieve alignment under complex interference environment when there are angular swaying interference, high frequency linear motion interference, low frequency linear motion interference or abrupt interference. To solve this problem, a SINS self-alignment algorithm under complex interference environment is presented, which removes angular the swaying interference by changing self-alignment problem as solving Wahba problem, and uses low-frequency filter and time domain methods to remove high frequency and low frequency linear motion interferences as well as abrupt interference according to the time characteristics and frequency characteristics of the gravity vector signal in inertial reference frame. And simulations are conducted to validate the effectiveness of the algorithm comparied with existing methods. The results show that the algorithm achieves the azimuth alignment precision of 10' in 180 s and 4.75' in 300 s, and can accomplish alignment quickly under complex interference environment with higher accuracy. ©, 2015, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.