激光捷联惯组(LSIMU)在工作环境下受测量噪声干扰大,尤其是小型激光陀螺仪,不能精确识别地球自转角速度,导致捷联惯导系统无法准确、快速对动基座进行初始对准。针对该问题,提出了一种基于小波卡尔曼级联滤波的LSIMU动基座初始对准算法。仿真对比实验结果表明,相比其他初始对准算法,本算法可以有效提高初始对准精度、减小姿态角对准误差,将全球定位系统辅助激光捷联惯导系统的初始对准精度从10''提高到了5''以内,且方差最小,可以使对准误差更稳定、快速的收敛。

The laser strapdown inertial measurement unit(LSIMU) is greatly interfered by measurement noise in the working environment, especially the small laser gyroscope, which cannot accurately identify the angular velocity of the earth''s rotation. As a result, the strapdown inertial navigation system cannot accurately and quickly perform initial alignment on the moving base. To solve this problem, an initial alignment algorithm of LSIMU moving base based on wavelet Kalman cascade filter is proposed in this paper. The results of simulation and comparison experiments show that compared with other initial alignment algorithms, this algorithm can effectively improve the initial alignment accuracy, reduce the attitude angle alignment error. The initial alignment accuracy of the global positioning system assisted laser strapdown inertial navigation system increases from 10'' to 5'' with an minimum variance, which can make the alignment error more stable and fast convergence.