基于多新息强跟踪SINS大失准角初始对准研究

Research on the Large Misalignment Angles Initial Alignment Method of SINS Based on Multi-Innovation Strong Tracking Filter

利用衰减记忆多新息强跟踪反馈校正卡尔曼滤波,设计了无需粗对准的捷联惯导大失准角初始对准算法。采用反馈校正卡尔曼滤波和新息正交性跟踪,将捷联惯导对准前的非线性大失准角快速校正成小失准角,对准过程引入了具有衰减记忆功能的多新息,改善了卡尔曼滤波反馈校正状态跟踪能力。

The large misalignment angle alignment algorithm without the coarse alignment is employed by the Kalman filtering method of the fading memory and multi-innovation strong tracking.It can change the nonlinear large misalignment angle into the small misalignment angle by using the feedback correction Kalman filter and the innovation orthogonality tracking.Also,through introducing the fading memory of multi-innovation,SINS Kalman filter feedback tracking ability is improved.