弹载惯组传递对准过程中基准信息时延会制约对准性能的提高.基于常用的速度/姿态匹配模式,建立含时间延迟模型的观测方程,并提出时间延迟闭环滤波估计方法.分别从匹配信息精度、对准精度、惯性器件误差估计等方面分析时间延迟的影响情况.仿真结果表明,时间延迟会引起对准误差振荡,引起器件零偏、标度误差的有偏估计,通过闭环滤波方法可以准确估计时间延迟误差,同时能有效抑制时间延迟对传递对准及惯性器件误差估计精度的影响.%The improvement of alignment performance is restrained by time delay of reference information in the transfer alignment process of missile-borne inertial measurement unit. On the basis of the commonly-used velocity/attitude matching mode,the observation equation including time delay model was established,and a closed-loop filtering estimation method for time delay is proposed. The effects of time delay on error estimation of inertial device,matching information accuracy and align-ment accuracy are analyzed respectively. The simulation results show that the time delay can induce the oscillation of alignment error,device zero offset,and biased estimation of scale error;the closed-loop filtering method can estimate the error of time delay accurately,and restrain the effect of time delay on error estimation accuracy of inertial device and transfer alignment effectively.
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