Abstract: In order to resolve the non-synchronous data streams from Strapdown Inertial Navigation System（SINS） and Global Positioning System（GPS）, a novel high precision integrated alignment method of vehicle by digital filter is proposed in this paper. Based on the error characteristic of SINS and the discrete velocity from GPS, a digital high-pass filter, which implements a pre-filtering scheme of the measured signal, is used to filter the Schuler, Foucault and Earth cycle of discrete velocity difference between the SINS and GPS. Then the accuracy velocity can be calculated by filtered velocity and the proposed by GPS. Therefore, the observation which is calculated by the accuracy velocity and the calculation by SINS can be used to finish the integrated alignment by Kalman filter. The validity of this approach can improve greatly the accuracy and the convergence time to satisfy the required accuracy from simulation results.

Key words: Strapdown Inertial Navigation System（SINS）, integrated alignment, high-pass filter, Schuler cycle, Kalman filter

摘要： 为了解决捷联惯性导航系统（Strapdown Inertial Navigation System，SINS）与全球定位系统（Global Positioning System，GPS）的组合对准过程中两者提供数据不同步问题，提出一种利用数字滤波器实现运载体高精度组合对准新方法。根据SINS解算速度的误差特性和GPS离散输出的速度信息，利用IIR高通滤波器滤除SINS与GPS提供的速度差值中存在的舒勒周期、傅科和地球周期，并将滤波后的速度与GPS提供的速度进行再次叠加得到载体准确速度。将载体准确速度与捷联惯导系统解算速度作差后视为系统观测量，采用卡尔曼滤波技术实现系统的组合对准。仿真结果表明了该方法的有效性。

关键词: 捷联惯性导航系统, 组合对准, 高通滤波, 舒勒周期, 卡尔曼滤波