【摘要】 摇摆状态下的捷联惯导初始对准,由于动基座情况下干扰较大,造成对准精度下降。推导了大失准角误差模型,设计了相关的H∞滤波器和Kalman滤波器,并比较了二者的性能。通过静基座和摇摆动基座初始对准仿真试验分析,得出静基座条件下,Kalman滤波性能较好;而在外界干扰较大或系统模型不准确的环境中,Kalman滤波性能恶化,H∞滤波的对准精度优于Kalman滤波,且实时性好,适合于工程应用。更多还原

【Abstract】 The accuracy of initial alignment for SINS is decreased as the large disturbance on swaying base.With the deduced large misalignment angle model,the relevant H∞ filter and Kalman filter are designed,and the performance of the two filters is compared.The simulation result shows that the accuracy of Kalman filter method is good in static base condition and H∞ filter method performs better than standard Kalman filer when there is large disturbance on system model is not accurate which is applied to engineering applications.更多还原