光纤陀螺惯导系统扰动条件下的初始对准

Initial Alignment of Fiber Optic Gyroscope SINS with Disturbances

摘要: 针对装甲车辆上在发动机不关闭及有乘员走动、上下车等扰动条件下的光纤陀螺捷联惯导系统(SINS)初始对准技术进行了相关研究。首先通过分析SINS惯性元件的信号特征，基于小波分析理论对观测信号进行降噪预处理，降低外界干扰的影响；采用自适应卡尔曼滤波完成精对准过程，使之具有更好的稳定性。仿真实验表明，该算法能有效提高扰动基础上的对准稳定性及精度，具有较大的工程应用价值。

Abstract: The initial alignment of fiber optic gyroscope strap-down inertial navigation system (SINS) for armored ve- hicles is studied when disturbance are present, for example when the motor is running on or people are walking on the vehicle. First, based on the signal analyses of the SINS inertial instruments, the observation signals were preprocessed by wavelet transform to reduce the interference, and then the adaptive Kalman filter algorithm was improved to increase the stability of alignment. The experimental results show that this technique effectively increases the alignment accu- racy with disturbances, and the application value is obvious.