晃动基座下捷联惯导的初始对准研究

Research on Initial Alignment of SINS on Rocking Base

为了降低车体振动对惯性器件输出的影响,运用小波域阈值滤波对信号进行预滤波,介绍一种初始对准非线性误差模型,并运用H∞滤波完成初始对准。针对坦克发动的情况,分别在固定怠速和不同怠速的情况下进行大量重复实验,实验结果表明：该方法能够有效完成坦克发动下初始对准,具有良好的重复性和稳定性。

In order to reduce influence of body vibration on inertial devices, a non-linear initial alignment error model is introduced after pre-filtering with wavelet threshold filtering, and initial alignment is accomplished with H∞ filtering. In the case of tank launching, a lot of repeated experiments are carried out in fixed idle speed and different idle speeds. The results show that this method can complete initial alignment effectively in tank launching with good repeatability and stability.