基于正逆向与降噪的捷联惯导改进快速对准方法（英文）  

Improved fast alignment method of strapdown INS using bidirectional processes and denoising

作　　者：覃方君[1] 李安[1] 许江宁[1] 

机构地区：[1]海军工程大学电气工程学院,武汉430033

出　　处：《中国惯性技术学报》2014年第4期453-458,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61104184);湖北省自然科学基金(2011CDB054)

摘　　要：针对捷联惯性导航系统(INS)的快速对准问题,基于双向过程和惯性传感器的降噪方法,提出了一种改进的对准方法。利用双向过程(前向和逆向)反复处理保存的惯性测量单元(IMU)的数据序列实现快速对准,推导了一种新的前向与逆向对准关系。为了减少角随机游走误差的影响,基于小波变换的降噪方法抑制光纤陀螺(FOGs)和加速度计噪声,给出陀螺罗经回路的改进方法的整个流程,并在自研的光纤陀螺捷联惯导系统上进行测试。实测数据实验结果表明,经正逆向与降噪改进后的快速对准方法具有更快的收敛速度,能在不到3 min内完成对准任务,同时也具有更好的对准精度。To solve fast alignment problem for strapdown inertial navigation system(INS), an improved alignment method is proposed using bidirectional processes and inertial sensors denoising. It is proved that repeatedly making use of the bidirectional processes(forward and backward ) to process the saved inertial measurement unit(IMU) data sequence could help fast alignment. A new relationship between forward and backward processes for alignment is deviated. In order to reduce the effect of angular random walk error, a wavelet-based demoising method is adopted to suppress the noises of fiber optical gyroscopes(FOGs) and accelerometers. And the whole procedure of the improved method based on gyrocompassing loop is given. The fast alignment method has been tested on a self-made FOG strapdown INS. The experiment results show that the improved method has great advantage in alignment speed, which costs less than 3 min to complete the alignment mission, and also has higher alignment accuracy after offline denoising the inertial sensors.

关 键 词：捷联 惯导 对准 双向过程 降噪 

分 类 号：U666.1[交通运输工程—船舶及航道工程]