Application of active disturbance rejection controller in initial alignment of INS on moving base

According to the characteristic of active disturbance rejection controller's (ADRC) applications in time-varying systems and multi-variable system, an initial alignment of INS is applied by using active disturbance rejection control technique, and a new initial alignment scheme of INS is proposed which focused on the INS moving base. The error model of system is set up, the precision and velocity of the aligning scheme is further researched. Comparing the ADRC with the traditional Kalman filter, the simulation results show that the method not only overcomes the restriction to Kalman filter, but also gets better results for moving base disturbed by uncertain perturbations. And the system has high robustness and high anti-jamming.