基于小波变换和序贯抗差估计的捷联惯导初始对准

基金项目: 国家自然科学基金资助项目(40274002,40474001)

详细信息

SINS Initial Alignment Based on Wavelet Transform and Sequential Robust Adjustment

¹ Institute of Surveying and Mapping,Information Engineering University,66 Middle Longhai Road,Zhengzhou 450052,China² Xi'an Research Institute of Surveying and Mapping,1 Middle Section,Yanta Road,Xi'an 710054,China

Funds: 国家自然科学基金资助项目(40274002,40474001)

摘要: 基于小波变换和三参数序贯抗差估计,提出了一种新的确定捷联惯导初始姿态的方法。利用静基座下的模拟数据对该方法进行了验证。结果表明,该方法能够保证捷联惯导在较短的时间内获得较高的对准精度。
- 捷联惯导 /
- 初始对准 /
- 小波变换 /
- 序贯抗差估计
Abstract: A new method is presented to determine the original attitude based on the wavelet transform and three-parameter sequential robust adjustment.First the wavelet multi-resolution analysis is applied to de-noise the noise components from the measurements of gyros and accelerometers.Then the original attitude angles are calculated by the three-parameter sequential robust adjustment.By the simulating stationary data,it is determined that this new method can ensure high alignment accuracy in short time.
- SINS /
- initial alignment /
- wavelet transform /
- sequential robust adjustment