| 基于非线性滤波的捷联惯导系统罗经法对准改进算法 |
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| 引用本文： | 张涛,徐晓苏.基于非线性滤波的捷联惯导系统罗经法对准改进算法[J].大连海事大学学报(自然科学版),2009,35(1). |
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| 作者姓名： | 张涛 徐晓苏 |
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| 作者单位： | 东南大学,仪器科学与工程学院,南京,210096
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| 基金项目： | 国家重点基础研究发展规划(973计划)，总装备部预研项目，总装备部预研项目，国家自然科学基金，教育部高等学校博士学科点专项科研基金 |
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| 摘 要： | 为提高捷联惯导系统初始对准的快速性和精确性,根据传统的平台惯导系统罗经法对准原理,提出包括水平对准和方位对准的捷联式罗经对准算法.给出了导航坐标系下加速度和角速率的修正值,经过姿态矩阵的转换对载体坐标系下的惯性测量组件输出值进行修正补偿.对不同初始姿态角误差和不同初始航向角的仿真表明,初始航向角的改变对系统影响较大,特别在大方位失准角情况下.采用UKF算法对非线性模型滤波的仿真结果显示,最大航向角误差从15′降至6′,证明将罗经法和UKF滤波方法相结合进行捷联系统初始对准是可行有效的.
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| 关 键 词： | 捷联惯导系统 罗经法对准 unscented卡尔曼滤波(UKF) 大方位失准角 |
Improved compass alignment algorithm for strapdown inertial navigation system based on nonlinear filtering |
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| ZHANG Tao,XU Xiao-su.Improved compass alignment algorithm for strapdown inertial navigation system based on nonlinear filtering[J].Journal of Dalian Maritime University,2009,35(1). |
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| Authors: | ZHANG Tao XU Xiao-su |
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| Institution: | ZHANG Tao,XU Xiao-su(College of Instrument Science , Engineering,Southeast University,Nanjing 210096,China) |
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| Abstract: | A strapdown compass alignment algorithm including horizontal alignment and azimuth alignment was developed to enhance the rapidity and accuracy of initial alignment of strapdown inertial navigation system(SINS)based on the principle of compass alignment for platform inertial navigation system.Corrections of acceleration and angular rate under navigation coordinate system were given,and then the output values of inertial measurement units were compensated under carrier body coordinate system by using attitud... |
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| Keywords: | strapdown inertial navigation system(SINS) compass alignment unscented Kalman filter(UKF) large azimuth misalignment angles |
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