一种快速有效的捷联系统初始对准算法

A Fast and Effective Initial Alignment Algorithm for Strapdown System

在捷联惯性系统中，初始对准是影响系统输出精度的最重要环节，陀螺漂移是引起对准误差的主要原因。本文在对捷联系统误差进行分析的基础上，结合卡尔曼滤波器的滤波特性，提出一种把陀螺随机常值漂移标定与初始对准进行多级组合的卡尔曼滤波方法。

The initial alignment is a key link for the output precision of strapdown inertial system and gyro drift is one of the main causes producing alignment error of the system. In view of the problem, a multistage Kalman filtering method is proposed in this paper, on the basis of analysing the error of strapdown system and combining the characteristics of Kalman filter, which combines the random constant drift calibration of gyro with the initial alignment technique.