针对扰动环境下角运动和线振动干扰影响捷联惯导初始自对准精度的问题,采用惯性系粗对准方法来隔离角运动干扰影响,设计了FIR数字低通滤波器用来抑制线运动干扰的影响,通过微幅、小幅和大幅晃动3种试验对算法性能进行了验证。结果表明,在3种试验条件下,所设计的初始对准算法均可以在5min内达到与静基座初始对准相同的精度。该方法可以为工程应用提供参考。

A method for initial alignment of strapdown inertial navigation system (SINS) is proposed for vehicles under complex swaying condition. First, the coarse alignment (CA) with inertial frame is first designed to address the CA on a sway base, and a FIR( finite impluse response) digital lowpass filter is used to prefiltering the accelerators output. Second, the fine aligment using Kalman filter is deduced with inertial frame. At last, the performance of the algorithm is validated by three properly designed experiments. The results indicate that the method can achive the same precision in the complex swaying condition as in the static base.