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提出了一种利用提升小波进行消噪的捷联惯性导航系统(strapdown inertial navigation system,SINS)分段快速对准新方法。该方法首先进行水平精对准,然后利用提升小波算法对陀螺仪的输出信号进行消噪后,快速计算出方位失准角并进行修正,完成对准过程。理论分析和实际系统试验表明:提升小波算法对于光纤陀螺信号具有良好的消噪效果,新方法与传统的Kalman滤波对准方法具有相同的稳态精度,但方位精对准过程中,不需要进行捷联惯导的力学编排,精对准的时间可以缩短至30 s左右。该方法弥补了传统Kalman滤波精对准方法中方位失准角估计速度慢的缺陷,大幅度提高了SINS的初始对准速度。
A new fast alignment method of strapdown inertial navigation system (SINS) using lifting wavelet is proposed. The method first performs horizontal fine alignment, and then uses lifting wavelet algorithm to denoise the output signal of the gyroscope to quickly calculate and correct the azimuth misalignment angle to complete the alignment process. The theoretical analysis and practical system tests show that the lifting wavelet algorithm has good de-noising effect on the FOG signals. The new method has the same steady-state accuracy as the traditional Kalman filter alignment method. However, SINS mechanics choreography, fine alignment time can be shortened to 30 s or so. The proposed method compensates for the shortcoming of the slow estimation of azimuth misalignment in the traditional Kalman filtering precision alignment method, and greatly improves the initial alignment speed of SINS.