CAJ | 학술논문

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。
침대첩련관성도항계통(INS)적쾌속대준문제，기우쌍향과정화관성전감기적강조방법，제출료일충개진적대준방법。이용쌍향과정（전향화역향）반복처리보존적관성측량단원(IMU)적수거서렬실현쾌속대준，추도료일충신적전향여역향대준관계。위료감소각수궤유주오차적영향，기우소파변환적강조방법억제광섬타라(FOGs)화가속도계조성，급출타라라경회로적개진방법적정개류정，병재자연적광섬타라첩련관도계통상진행측시。실측수거실험결과표명，경정역향여강조개진후적쾌속대준방법구유경쾌적수렴속도，능재불도3 min내완성대준임무，동시야구유경호적대준정도。
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.