瞄准吊舱进行传递对准时,主惯导数据到达吊舱惯导系统存在延时,影响滤波收敛速度和估计精度。文中提出了一种基于延时卡尔曼滤波的主惯导数据延时补偿算法(LCKF算法),将时间基准统一到主惯导数据时刻进行卡尔曼滤波,修正子惯导姿态信息,再利用子惯导的实时IMU数据进行捷联更新,获得子惯导当前时刻的姿态信息。基于“比力积分匹配”传递对准,对LCKF算法进行仿真,结果表明该方法明显提高了传递对准收敛速度和估计精度。

During targeting pod transfers alignment on moving base, the time delay when transferring the data of master inertial navigation system (MINS) to slave inertial navigation system (SINS) will affect Kalman filter's convergence speed and precision. A method called LCKF algorithm (lag compensation Kalman filtering algorithm) for processing the time delay of MINS data in transfer alignment was presented. When SINS got the MINS data, the time reference was unified to the moment corresponding to the MINS data, and the data was processed by Kalman filter. The current attitude of the SINS was obtained by time update. A simulation system based on the model of specific force integrated matching was made to validate the calculation. Simulation results show that the transfer alignment performance is improved by compensating time delay.