基于Kalman滤波的激光陀螺捷联惯导自寻北技术研究

The Research of Laser Gyro SINS Independence North-Seeking Based on Kalman Filter

利用Kalman滤波技术对捷联惯导在准静基座条件下初始对准的失准角进行估计,进而实现惯导系统的自寻北。提出了对激光陀螺进行速率偏频的办法,解决了寻北的精度问题,并给出了实现导弹水平瞄准的方法。

Kalman filter is applied to estimate misalignment angle of initial alignment on condition of ap- proximate stationary base in SINS in the paper, which can realize independence north - seeking for SINS. The method for angular velocity biasing is introduced, which can improve precision for laser gyro, and the method for horizontal aim of missile is provided as well.