简化UKF在SINS摇摆基座上的初始对准  

The Application of Simplified UKF to Initial Alignment of SINS on Swaying Base

作　　者：周菊华[1] 程向红[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《弹箭与制导学报》2009年第3期65-68,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：大方位失准角情况下,捷联惯导系统(SINS)误差方程是非线性的,传统的扩展卡尔曼滤波(EKF)会产生线性化误差,影响初始对准精度。为了减少滤波计算量,将一种简化的UKF(RBAUKF)方法应用于SINS初始对准,采用较少的采样点数目和简化的滤波更新算法,避免了对非线性方程的线性化。仿真结果表明,RBAUKF与EKF相比,可在较短时间内完成初始对准,具有更高的精度。The error equation of strapdown inertial navigation system （SINS） is nonlinear under large heading misalignment. The linearizing error was introduced by traditional EKF which reduces alignment accuracy. Rao-Blackwellised additive unscented Kalman fiher（RBAUKF） was applied to SINS initial alignment to avoid linearization of nonlinear equation and using less sample points and simplified filtering update algorithms, the calculating burden was reduced. The simulation result shows, compared with EKF, RBAUKF can complete the initial alignment with less time and higher accuracy.

关 键 词：捷联惯导系统 大方位失准角 初始对准 RBAUKF 

分 类 号：U666.13[交通运输工程—船舶及航道工程]