摘要
针对强角运动和线振动干扰下捷联惯导无法根据陀螺和加速度计的输出直接计算姿态阵的问题,提出了抗干扰重力加速度积分解析粗对准算法。该算法利用陀螺跟踪载体在惯性空间的角运动,利用重力加速度矢量在惯性空间投影的积分作为参考矢量进行对准以隔离角运动干扰的影响。根据参考矢量的时域特性,采用最小二乘算法对包含线振动干扰的参考矢量进行拟合,利用拟合结果进行姿态矩阵解算以抑制线振动干扰的影响。仿真结果表明,该算法既具有角运动干扰隔离能力,又具有线振动干扰抑制能力,能在强角运动和线振动干扰同时存在的条件下迅速完成粗对准。
The conventional coarse alignment method,computes the direction cosine matrix （ DCM） of a strap-down inertial navigation system （ SINS） directly from the output of gyros and accelerators,and it is significantly susceptible to angular and linear vibration. An anti-interference coarse alignment method is presented for the above mentioned issue. The new method utilizes gyros’output for tracking the change of attitude and accelerometers’output to compute reference vectors,thus circumventing the influence of angular vibration interference. In order to attenuate the influence of linear vibration interference,a LMS curve fitting algorithm is used to fit linear vibration interference-contaminated reference vectors according to their time domain characteristics,and then the reference vectors are used to compute the DCM. Simulation results show that the new method can accomplish coarse alignment quickly even in the presence of severe angular motion and linear vibration interference.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2010年第10期2335-2339,共5页
Journal of Astronautics
关键词
强干扰
粗对准
捷联惯导
重力加速度
抗干扰
Severe interference
Coarse alignment
SINS
Gravity
Anti-interference
