大失准角下基于交互模型的惯导快速对准

为缩短对准时间，提出了一种基于非线性模型与线性模型的交互多模型对准方法．给出了捷联惯导的 非线性和线性误差模型，设计了基于线性模型和非线性模型的交互多模型对准算法．数字仿真结果和转台摇摆试验 验证了算法的有效性．结果表明采用交互模型可使对准收敛时间加快，最终对准精度亦得到了一定程度改善．

Interacting Multiple Model Based Rapid Alignment Method of Inertial Navigation System under Large Attitude Error

A nonlinear model and linear model based interacting multiple model (IMM) alignment method is proposed to shorten the alignment time. The nonlinear model and linear model of strapdown inertial navigation are given and the interacting multiple model is designed. The alignment algorithm is validated by the simulation and turntable test. Results show that the interacting multiple model alignment method can accelerate filtering convergency and improve the final alignment accuracy.