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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。
Aiming at the quick alignment problem of strapdown inertial navigation system (INS), an improved alignment method is proposed based on the two-way process and the noise reduction method of inertial sensor. The two-way process (forward and reverse) is used to iteratively process the data sequence of the saved inertial measurement unit (IMU) for fast alignment, and a new forward-backward alignment relationship is derived. In order to reduce the influence of random error of random walk, the noise reduction method based on wavelet transform suppresses the noise of FOGs and accelerometers, and gives the whole flow of the improved gyro gyro circuit. Conducted on the test system. The experimental results show that the fast alignment method improved by forward and backward and noise reduction has a faster convergence rate and can accomplish the alignment task in less than 3 minutes, and also has better alignment accuracy.