#br# 基于降维CKF和平滑的SINS/OD动基座对准

为了提高捷联惯导(strapdown inertial navigation system, SINS)/里程计(odometer, OD)动基座对准精度,使对准过程中具备一定精度的位置导航能力,提出了一种动基座非线性对准方法。首先对非线性系统进行简化并应用降维容积卡尔曼滤波(reduced dimension cubature Kalman filter,RD-CKF)进行非线性对准,保证非线性对准过程中能够进行位置导航,对准结束时保证失准角为小角度。然后非线性R-T-S平滑至初始时刻进行校正,利用卡尔曼滤波再次对准,获得对准结束时刻高精度的姿态和位置导航。进行了实车实验,实验结果表明了方案的有效性。

Research on moving base initial alignment of SINS/OD with reduced dimension CKF and smoother

In order to improve the alignment precision of strapdown inertial navigation system (SINS) / odometer (OD), and to make it have the position navigation capability with a certain precision, a nonlinear alignment method on the moving base is proposed. Firstly, the nonlinear system is simplified, and the alignment is carried out by using the reduced dimension cubature Kalman filter(RD-CKF),for that position navigation can be performed in the nonlinear alignment, and ensuring that the misalignment angles are small at the end of the alignment. Then, the nonlinear R-T-S smoother is used to the initial time for attitude calibration, and a twice alignment is made by means of Kalman filter to realize high precision attitude and position navigation at the end of the alignment. The experiment is carried out in a real vehicle to demonstrate the effectiveness of the proposed method.