| 基于观测量扩充的捷联惯导快速初始对准方法 |
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| 引用本文： | 高伟,张鑫,于飞,冯晋.基于观测量扩充的捷联惯导快速初始对准方法[J].系统工程与电子技术,2011,33(11):2492-2495. |
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| 作者姓名： | 高伟 张鑫 于飞 冯晋 |
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| 作者单位： | 哈尔滨工程大学自动化学院, 黑龙江 哈尔滨 150001 |
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| 基金项目： | 国家自然科学基金(60834005); 中央高校基本科研业务费专项资金(F0303)资助课题 |
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| 摘 要： | 近似静止状态时捷联惯导系统可观测性较差,利用卡尔曼滤波完成初始对准需要较长时间。针对这一问题提出了一种基于观测量扩充的捷联惯导系统快速初始对准方法。在不改变系统状态方程的情况下,将速度误差和地球转速作为系统观测量。并根据观测量的扩展详细地推导了观测方程,进而利用扩展卡尔曼滤波完成捷联惯导系统初始对准。车载试验结果表明,与传统的卡尔曼滤波对准方法相比,新方法在保证初始对准精度的同时缩短了初始对准时间。
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| 关 键 词： | 捷联惯导系统 初始对准 观测量扩充 扩展卡尔曼滤波 |
Fast alignment method of SINS using measurement augmentation |
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| GAO Wei,ZHANG Xin,YU Fei,FENG Jin.Fast alignment method of SINS using measurement augmentation[J].System Engineering and Electronics,2011,33(11):2492-2495. |
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| Authors: | GAO Wei ZHANG Xin YU Fei FENG Jin |
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| Institution: | College of Automation, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | During approximate stationary alignment,observability of strapdown inertial navigation systems(SINS) is so weak that the long duration is needed to accomplish initial alignment.In order to solve this problem,a SINS rapid alignment method based on augmented measurements is proposed.Velocity error and earth angular rate are considered as measurements without changing state equations.Measurement equations are deduced according to the augmented measurements.An extended Kalman filter(EKF) is also used for SINS i... |
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| Keywords: | strapdown inertial navigation system(SINS) initial alignment measurement augmentation extended Kalman filter(EKF) |
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