地固系下四元数和卡尔曼滤波方法的惯导初始精对准研究  

Inertial Navigation System Fine Alignment Under ECEF Frame with Quaternion and Kalman Filter

作　　者：柴华[1,2] 王勇[1] 许大欣[1] 王虎彪[1] 

机构地区：[1]中国科学院测量与地球物理研究所动力大地测量学重点实验室,武汉市徐东大街340号430077 [2]中国科学院研究生院,北京市玉泉路甲19号100049

出　　处：《武汉大学学报（信息科学版）》2012年第1期68-72,共5页Geomatics and Information Science of Wuhan University

基　　金：中国科学院动力大地测量学重点实验室开放研究基金资助项目(L09-18);中国科学院知识创新工程重要方向性资助项目(kzcx2-yw-125);国家自然科学基金资助项目(41074051;40974044)

摘　　要：从地心地固系中卡尔曼滤波方程的推导入手,设计了一个12状态滤波器,对失准角进行估计,在地心地固坐标系中完成了惯导的初始精对准。模拟计算证明了此算法的正确性与有效性,并讨论了对准的精度。Inertial navigation system fine alignment based on Kalman filter is normally carried out under navigation frame.Earth-centered-earth-fixed（ECEF） frame is an important frame for combination navigation and inertial geodesy but no previous research has been shown for the fine alignment under this frame.Beginsing from mathematical deduction of a 12-states Kalman filter equation under ECEF frame,we estimate the misalignment angles and determine the transformation matrix from body frame to ECEF frame for the fine alignment.A simulation calculation is accomplished for this algorithm to prove its validity and availability.Besides,the alignment accuracy is also discussed.Experimental results show that the fine alignment can also be done under ECEF frame for inertial navigation system.

关 键 词：惯性导航 地心地固系 精对准 卡尔曼滤波 

分 类 号：P227.2[天文地球—大地测量学与测量工程]