#br# 舰船捷联惯导传递对准的改进自适应滤波算法

针对舰船捷联惯导传递对准性能受系统动态模型和噪声统计特性影响的问题,提出了一种基于改进自适应滤波的“速度+姿态”传递对准算法。针对噪声矩阵半正定性问题而导致的滤波发散,对自适应滤波噪声矩阵的迭代算式进行了改进,并基于协方差匹配技术给出了滤波发散的抑制策略。考虑到舰船航行中的载体变形影响动态模型的问题,在状态量中加入了安装误差角和挠曲变形角,并在算法中进行了补偿。仿真结果表明，改进算法可以在100 s之内有效地估计出姿态失准角和安装误差角,完成舰船捷联惯导的快速传递对准。

Modified adaptive filter algorithm for shipborne SINS transfer alignment

In order to solve the problem that the performance of shipborne strapdown inertial navigation system (SINS) transfer alignment is affected by the system dynamic model and noise statistical properties, a new algorithm of “velocity+attitude” transfer alignment based on modified adaptive filter is put forward. In order to solve the problem of filtering divergence caused by noise matrix positive semi definite, the iterative formulas of the adaptive filtering noise matrix are modified and a strategy to restrain filter divergence based on covariance matching technique is put forward. According to the problem that the dynamic model is affected by the carrier deformation during ship sailing, installation error angle and deflection deformation angle are added into the state and compensated in the algorithm. Computer simulation shows that the modified algorithm can estimate attitude misalignment angle and installation error angle in 50 seconds effectively, and achieve shipborne SINS transfer alignment rapidly.