一种基于速度加比力匹配的传递对准时间延迟补偿算法

传递对准过程中，由于主惯导的传输延迟，子惯导解算信息与进行匹配的基准信息不能完全同步，有些情况下时间延迟影响较大。分析了时间延迟对速度加比力匹配传递对准算法的影响，并用扩增状态量的方法对该算法时间延迟进行建模和补偿。仿真结果表明，对准过程中当舰船处于匀速运动状态，时间延迟几乎不会影响对准性能；当舰船进行加速运动或S形机动运动时，时间延迟会严重影响对准性能，通过补偿可以有效地减少时间延迟对于该算法的影响。

A time-delay compensation algorithm for velocity and force transfer alignment

Because of the transfer time delay of master inertial navigation system （ INS） during transfer alignment, the information computed by secondary inertial navigation system（ SINS） does not synchronize completely with the basic matching information, and sometimes the effect of time-delay is relatively large.This paper analyses the time-delay effect on the velocity and force matching transfer alignment, and uses an extended state variable method to model and compensate the time-delay .The simulation results show that, in the case of constant velocity in align-ment, the time-delay’ s effect on velocity and force matching transfer alignment can be ignored.In the case of varia-ble acceleration and swerves in alignment, the time-delay could affect the accuracy of alignment seriously, and through compensation the proposed algorithm can reduce the time-delay effect on the algorithm efficiently.