基于频域分离算子的SINS抗晃动干扰初始对准算法

SINS Anti-Rocking Disturbance Initial Alignment Based on Frequency Domain Isolation Operator

在基于惯性参考系的捷联惯导系统(SINS)初始对准算法中,使用一次积分抑制线晃动干扰作用有限。通过分析惯性系重力矢量和晃动干扰加速度的频率特点,引入频率分离算子概念,特别是使用频率特性精心设计的无限冲击响应(IIR)滤波算子时,能够有效抑制线晃动干扰,同时对反映重力信息的比力和惯性系重力参考矢量实施同步滤波,使它们都能顺利通过,即使在滤波器输出没有稳定的情况下也可给出可靠的初始对准结果,从而实现快速精确初始对准。车载试验验证表明所提算法可直接用于SINS抗晃动干扰精对准。

In some initial alignment applications for strapdown inertial navigation system（SINS）,an inertial reference frame and the integral method are adopted to suppress linear rocking errors,but with limited roles.Gravity vector expressed in inertial reference frame and the frequency characteristics of rocking disturbance are analyzed,then the concept of frequency domain isolation operator is introduced.Especially when an infinite impulse response（IIR） filtering operator with fine designed frequency characteristics is used,it can suppress linear rocking to the maximum extent;meanwhile,the filter will let the ideal specific force and gravity reference vector pass through peferctly.Even when the filtering output is not stable,a reliable result can also be gotten to accomplish fast and accurate initial alignment.Finally,some vehicular tests show that the presented method in this paper is applicable to SINS anti-rocking initial fine alignment even under large misalignment angles.