捷联惯导系统简化非线性对准研究  

Simplified Strapdown INS Nonlinear Alignment Research

作　　者：杨鹏翔[1] 秦永元[1] 严恭敏[1] 

机构地区：[1]西北工业大学自动化学院,西安7100072

出　　处：《系统仿真学报》2010年第12期2817-2820,共4页Journal of System Simulation

基　　金：国防科技重点预研项目(51309060401)

摘　　要：对任意大失准角条件下的捷联惯导系统非线性对准进行了建模和简化,并给出了差分GPS辅助条件下的大失准角行进间对准简化模型。针对四组不同量级的初始姿态失准角,分别采用线性模型和非线性模型进行卡尔曼滤波(KF)和Unscented卡尔曼滤波(UKF)静态对准仿真,结果表明文中大失准角非线性模型可适用于任意角度的初始对准,小失准角和大方位失准角情况下UKF对准可达角分级精度,但在水平和方位皆为大失准角情况下UKF收敛至一定程度后仍需与KF配合使用。Modeling for Strapdown Inertial Navigation System （SINS） initial alignment with arbitrarily misalignment angles was created and simplified,and the nonlinear alignment modeling for SINS initial alignment on-move with the help of Differential GPS （DGPS） was proposed.Simulations of static-base initial alignments through linear Kalman Filtering （KF） and nonlinear Unscented Kalman Filtering （UKF） were carried out with four different weights of initial misalignment angles.Results show that the simplified nonlinear model can implement initial alignment with arbitrarily misalignment angles.The nonlinear UKF can reach minute magnitude precision as all of misalignment angles are small or only azimuth misalignment angle is large.However,if both initial horizontal and azimuth misalignment angles are large,KF is still recommended to use after UKF convergence to small scales.

关 键 词：非线性 大失准角 初始对准 UNSCENTED卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]