一种自适应滤波方法在捷联惯导系统大失准角初始对准中的应用  

Application of an Adaptive Filter in Initial Alignment of Strapdown Inertial Navigation System with Large Misalignment Errors

作　　者：柏猛[1] 赵晓光[1] 侯增广[1] 

机构地区：[1]中国科学院自动化研究所复杂系统与智能科学重点实验室,北京100080

出　　处：《传感技术学报》2008年第6期1066-1069,共4页Chinese Journal of Sensors and Actuators

基　　金：国家"863"计划资助项目(2006AA04Z219;2006AA04Z258);黑龙江省机器人技术重点实验室开放研究课题资助项目(RI-2007-01)

摘　　要：为了对静基座大失准角捷联惯导系统(SINS)进行初始对准,建立了在静基座下基于四元数的SINS非线性误差模型。该误差模型无需对姿态误差角进行小角度假设。为了在观测噪声方差未知的情况下估计SINS失准角,提出一种在线估计观测噪声方差矩阵的自适应扩展卡尔曼滤波方法。仿真结果表明,该自适应滤波方法能在观测噪声方差未知的情况下有效地对静基座大失准角SINS进行初始对准。A general nonlinear strapdown inertial navigation system （SINS） error propagation model based on quaternion is presented. The error model is used in initial alignment of SINS on static base and does not rely on small misalignment angles assumption. To estimate the misalignment angles of SINS with uncertain measurement noise covariance matrix, an adaptive extended Kalman filtering method is proposed. In the adaptive filtering method, the measurement noise covariance matrix is estimated on-line. Simulation resuits reveal that without exact measurement noise covariance matrix, the adaptive extended Kalman filtering approach can estimate large initial misalignment angles of SINS efficiently.

关 键 词：四元数 SINS 初始对准 自适应卡尔曼滤波 

分 类 号：V324[航空宇航科学与技术—人机与环境工程]