CAJ | 학술논문

针对机载捷联惯导系统的传递对准问题,给出了一种速度+姿态匹配算法,旨在强调姿态失准角和惯导器件误差参数估计性能的改善.并基于惯导测量单元 (inertial measurement unit,IMU)原始测量信号的频谱特征,引入了小波串级消噪算法,拟通过对IMU测量进行消噪,进一步提高传递对准的性能.仿真结果验证了所提算法的可行性.
침대궤재첩련관도계통적전체대준문제,급출료일충속도+자태필배산법,지재강조자태실준각화관도기건오차삼수고계성능적개선.병기우관도측량단원 (inertial measurement unit,IMU)원시측량신호적빈보특정,인입료소파천급소조산법,의통과대IMU측량진행소조,진일보제고전체대준적성능.방진결과험증료소제산법적가행성.
The transfer alignment of strapdown inertial navigation systems is discussed. An improved transfer alignment algorithm that augments velocity matching with attitude matching is introduced for improving the estimation performance of attitude errors and the inertial measurement unit (IMU) calibration parameters. Based on the spectrum characteristics of IMU raw measurements, we introduce the wavelet cascade denoising algorithm to reduce the IMU measurement noise and to further enhance the performance of the proposed transfer alignment algorithm. Finally, simulations are conducted to validate the proposed algorithms feasibility.