舰载捷联式电子罗盘航姿估计新算法  

A novel heading and attitude estimation algorithm for shipboard strapdown electronic compass

作　　者：傅建国[1] 王孝通[1] 马野[1] 金良安[1] 

机构地区：[1]海军大连舰艇学院航海系,辽宁大连116018

出　　处：《舰船科学技术》2005年第2期60-62,80,共4页Ship Science and Technology

摘　　要：捷联式电子罗盘以其低成本、固态化、小型化、数字化等特点正在获得越来越广泛的应用。本文针对舰载捷联式电子罗盘现有算法的不足,在保持自主测量的前提下,提出了一种新的航姿优化递推估计算法。该算法采用卡尔曼滤波框架,利用Unscented变换(UT)传递随机变量经非线性变换后的统计特征量以实现测量更新。与传统的捷联式电子罗盘航姿测量方法相比,本文所提方法可以明显提高捷联式电子罗盘的航向姿态测量精度,并能同步提供姿态速率信息。The strapdown electric compass is widely used for heading and attitude determination especially in cost sensitive applications. In order to keep autonomous measurement, the direct calculation method is generally employed in the compass to generate the heading from measured information. This method doesn′t make use of the former measured value and can′t get the optimal results. A novel recursive optimal heading and attitude estimation algorithm for shipboard strapdown electric compass is proposed in this paper to address this problem. The algorithm is in the Kalman filter framework and employs Unscented Transform(UT) to calculate the statistics of a random variable which undergoes a nonlinear transformation in the measurement update stage. Comparing with the current measurement algorithm, the presented method would obviously improve the measuring precision and synchronously provide attitude rate information; meanwhile, it is also based on the observation capability of the compass to guarantee autonomous measurement. The simulation results show that the algorithm is reasonable and efficient.

关 键 词：姿态测量 卡尔曼滤波 Unscented变换 电子罗盘 捷联 

分 类 号：E925[军事—军事装备学] U666.151[兵器科学与技术—武器系统与运用工程]