适用于强阵风干扰下的捷联惯导自对准算法

Self alignment algorithm for SINS under strong gust interference

对于处于起竖状态的车载武器来说,在强阵风的干扰下会产生较大摇晃,由于其捷联惯导系统(SINS)的重心较高,SINS的测量值很容易受到晃动所带来的角运动和线运动干扰,SINS难以快速地实现自对准,针对该问题,提出了强阵风干扰下SINS自对准算法。该算法利用惯性坐标系下的姿态更新来实时地反映载体在晃动干扰下的姿态变化,以消除角运动干扰的影响;利用武器存在零速摇晃中心的特点,通过获取加速度计在零速摇晃中心的等效输出来消除线运动干扰的影响,然后结合姿态的最优估计实现初始对准。仿真结果表明,该算法不需要进行粗对准,能够在强阵风干扰下快速地实现自对准。

For vehicle mounted weapons in erecting state under strong gust interference, large swaying motion exists. Because the gravity center of strapdown inertial navigation system （SINS） is high, the measurements of SINS are subject to the interference of the angular and linear motions caused by the swaying, and it is difficult for the SINS to achieveself alignment accurately and quickly. Aiming at this problem, a self alignment algorithm for SINS under strong gust interference is presented, in which the attitude update in inertial reference frame is used to reflect the attitude change of the carrier under swaying interference in real time and remove the influence of angular motion interference. With the characteristic that the speed of the shake center is zero, the equivalent specific force of the shake center is obtained, which can remove the influence of linear motion interference;and then the optimal estimation of the attitude is employed to achieve the initial alignment. The simulation results illustrate that the proposed algorithm can achieve self alignment rapidly under strong gust interference without requiring the coarse alignment phase.