扰动基础上的初始对准是车载激光陀螺惯导系统(L INS)的难点技术之一。针对 L INS在车辆发动机不关闭和有少量人员走动的情况 ,进行了大量实验研究。通过分析L INS惯性元件的信号特征 ,改进 Kalm an滤波对准技术。对获得的观测信号进行预处理 ,降低干扰影响 ;并改进Kalman算法 ,使之具有更好的稳定性。实验结果表明 ,该算法对于提高扰动基础上的对准精度是有效的 The initial alignment based on disturbance is one of the most difficult techniques of LNA. A large number of experimental studies have been carried out for the case where L INS does not close the vehicle engine and a small number of people move around. By analyzing the signal characteristics of L INS inertial elements, Kalman filtering alignment is improved. The obtained observation signal is preprocessed to reduce the influence of interference; and Kalman algorithm is improved to make it have better stability. Experimental results show that this algorithm is effective to improve the alignment accuracy based on the disturbance