针对在导弹主动段飞行过程中,快速估计修正捷联惯导系统数学平台失准角的问题,分析了在惯导陀螺精度较高,失准角在短时间内变化较小的情况下,仍将失准角视为状态变量,利用Kalman滤波算法来估计的局限性,推导了发射惯性系下惯导误差传播模型,将失准角视为不变参数,提出了基于最小二乘法的失准角空中估计算法。最小二乘算法计算简单,使用方便,仿真结果也表明,基于最小二乘法的失准角估计速度比Kalman滤波算法更快,估计过程也更平稳。对飞行试验数据进行离线计算验证,充分验证了算法的有效性。

In order to estimate and rectify SINS misalignment angle during missile powered-flight phase, the limitation of Kalman filter algorithm in which the misalignment angles are treated as state variable was analyzed, and the navigation error spread equations were derived in launch-point inertial coordinate, and also proposed is a new method that estimates the misalignment angles as invariable parameters based on least square method. The simulation results indicate that the new method based on least squares has less computation, easier for practical applications, performs much more quickly and steady than Kalman filter, and the off-line calculation with real flight data further indicates that the proposed algorithm is effective.