基于非线性滤波的捷联惯导系统罗经法对准改进算法  

Improved compass alignment algorithm for strapdown inertial navigation system based on nonlinear filtering

作　　者：张涛[1] 徐晓苏[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《大连海事大学学报》2009年第1期66-70,共5页Journal of Dalian Maritime University

基　　金：国防"九七三"项目(973-61334);"十一五"总装备部预研项目(51309060402);"十一五"总装备部预研项目(51309020503);国家自然科学基金资助项目(50575042);教育部博士点专项科研基金资助项目(20050286026)

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.A strapdown compass alignment algorithm including horizontal alignment and azimuth alignment was developed to enhance the rapidity and accuracy of initial alignment of strap down inertial navigation system （SINS）based on the principle of compass alignment for platform inertial navigation system. Cor rections of acceleration and angular rate under navigation coordi nate system were given, and then the output values of inertial measurement units were compensated under carrier body coordi nate system by using attitude matrix transformation. Simula tions under different initial attitude errors and heading angles show that initial heading angles have obvious impact on initial alignment especially under large azimuth misalignment angles. The unscented Kalman filter （UKF）algorithm was used to filter the nonlinear model. Simulation result also shows that the larg est heading error decreases from 15＇ to 6＇, which verifies that the method of combining compass alignment with UKF filtering in SINS initial alignment is feasible and effective.

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 

分 类 号：V241.622[航空宇航科学与技术—飞行器设计]