Smoothing processing method of local reference output speed in response to master reference speed error jump

The master reference speed error jump in shipboard missiles not only influence the alignment or calibration result of local reference, but also cause the corresponding output speed error jump of local reference, and this in turn influence the alignment process of slave INS that uses local reference speed as reference information for alignment. In response to this problem, a smoothing processing method of local reference output speed is presented. Based on Kalman filtering, the method uses residual chi-square test to effectively detect the master reference speed error jump. After the time of jump is found, the speed error states of Kalman filtering are used to smooth the local reference output speed with no error jump. From the simulations with three different master reference speed error jump conditions, the results show that local reference output speed error rate of change can be controlled to satisfy the alignment requirement of slave INS after using the smoothing processing method, which is valuable in engineering application.