| 基于UKF的旋转式SINS大方位失准角初始对准方法 |
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| 引用本文： | 黄凤荣,孙伟强,翁海娜.基于UKF的旋转式SINS大方位失准角初始对准方法[J].中国惯性技术学报,2010,18(5). |
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| 作者姓名： | 黄凤荣 孙伟强 翁海娜 |
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| 作者单位： | 天津航海仪器研究所; |
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| 基金项目： | 武器装备重点预研基金项目 |
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| 摘 要： | 旋转调制自补偿技术可以调制惯性元件的常值误差,从而提高惯性导航系统的导航精度。出于实际工程应用需求,研究了旋转式SINS大方位失准角初始对准方法。以单轴旋转式SINS为例,给出了单轴旋转式SINS大方位失准角非线性误差模型;根据系统误差模型的非线性特性,利用简化Unscented卡尔曼滤波(Unscented Kalman Filter UKF)算法,设计了系统的大方位失准角初始对准算法。数字仿真实验结果表明:在相同条件下,提出的UKF算法在收敛速度与对准精度方面均优于EKF算法;系统试验验证结果表明,采用本文提出的初始对准方法,系统的水平对准精度优于0.1′,方位对准精度优于1.5′,证明本文提出的初始对准方法在工程应用中是有效、可行的。
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| 关 键 词： | 捷联惯性导航系统 旋转调制 大方位失准角误差模型 初始对准 Unscented卡尔曼滤波 |
Rotary SINS initial alignment for large heading misalignment based on UKF |
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| HUANG Feng-rong,SUN Wei-qiang,WENG Hai-na.Rotary SINS initial alignment for large heading misalignment based on UKF[J].Journal of Chinese Inertial Technology,2010,18(5). |
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| Authors: | HUANG Feng-rong SUN Wei-qiang WENG Hai-na |
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| Institution: | HUANG Feng-rong,SUN Wei-qiang,WENG Hai-na(Tianjin Navigation Instrument Research Institute,Tianjin 300131 China) |
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| Abstract: | The constant errors of the inertial elements could be modulated by the rotary modulation to improve the accuracy of the inertial navigation system.For the requirement of practical engineering application,the rotary SINS(strapdown inertial navigation system) initial alignment for large heading misalignment angles(LHMA) was studied.With single rotary SINS as an example,the single rotary SINS LHMA nonlinear error models were established.According to the nonlinear characteristic,the LHMA initial alignment arith... |
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| Keywords: | strapdown inertial navigation system rotary modulation large heading misalignment angles error model initial alignment unscented Kalman filter |
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