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中文摘要：
海浪产生的扰动误差是影响舰船对准精度和快速性的关键因素，基于系泊状态下船载捷联惯导系统（SINS）自对准的特点，分析舰船运动状态并设计数字滤波器实现对重力加速度的提取。研究重力加速度在不同坐标系下的变化趋势并考虑工程应用实际情况，提出一种利用重力矢量间接建立初始捷联矩阵实现舰船系泊状态下的快速自对准方法。系泊试验结果表明，提出的基于重力矢量的自对准方法可有效地提高系统对准精度和快速性，满足舰船对初始化过程的高精度和实时性要求。
英文摘要：
Agitation error caused by ocean wave is the key factor affects the real-time rapidity and accuracy of the initial alignment for ship. Considering the characteristic of strap-down inertial navigation system （SINS） for the ship is on mooning, a fast mooring initial alignment based on inertial frame for measurement vehicle was proposed in this paper. The initial strap-down matrix was calculated indirectly by making use of the components of gravity in dif- ferent coordinate frame, and the inertial coarse alignment of INS was set. Mooring experiment results showed that, the inertial frame alignment method which was proposed in this paper could improve the real-time rapidity and align- ment accuracy, and satisfy the requirement of real-time and high accuracy of the initial alignment for ship.
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