基于四元数的惯导系统快速匹配对准算法  

Rapid matching alignment algorithm of inertial navigation system based on quaternion

作　　者：熊芝兰[1] 郝燕玲[1] 孙枫[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2008年第1期28-34,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60674087/F03)

摘　　要：小失准角情况的惯导快速匹配对准方法研究已经比较成熟,在快速性和精度方面达到了使用要求.然而,在实际应用中经常出现大初始失准角的情况.为了解决大初始失准角情况下的惯导快速传递对准问题,分别基于乘性四元数和加性四元数,提出并推导了2类非线性惯导系统快速匹配对准模型,并且通过仿真分析比较了各个模型的估计效果,以及将乘性四元数对准模型中的变量修改为失准角后的估计效果.仿真结果表明,基于四元数的快速匹配算法不但能够有效解决大失准角情况下的惯导对准问题,而且其方位失准角的收敛速度与水平失准角的收敛速度相当.The rapid matching alignment method of the inertial navigation system （INS） for the small misalignment had already been more mature, and had met the requirements from rapid and accuracy. However, the problem of the large initial misalignment was often appeared. In order to solve it, two kinds of the nonlinear INS rapid matching alignment based on the multiplicative quaternion and the additive quaternion were proposed and deduced, respectively. Then, the estimation effects of these models were compared and analyzed by simulation, as well as the effect of the modified model using the misalignment to replace the quaternion in the multiplicative quaternion alignment model. The simulation results show that the rapid matching algorithm based on quaternion can solve the problem of the INS alignment with the large misalignment, and can make the convergence rate of the azimuth misalignment to be almost the same as the convergence rate of the level misalignment.

关 键 词：惯导系统 快速匹配对准 乘性四元数 加性四元数 

分 类 号：TP216.1[自动化与计算机技术—检测技术与自动化装置]