基于水下地形匹配大姿态误差角捷联惯导系统误差估计方法  

Error Estimation Method of SINS with Large Attitude Error Angle Based on Underwater Terrain Matching

作　　者：李恒[1] 谌剑[1] 罗轩[1] 张静远[1] 

机构地区：[1]海军工程大学兵器工程系,湖北武汉430033

出　　处：《鱼雷技术》2012年第3期201-205,共5页Torpedo Technology

基　　金：部级国防科技预研基金项目(1010602010502)

摘　　要：传统的基于线性滤波的误差估计方法常采用基于?角法的捷联惯导系统(SINS)线性误差模型,但当姿态误差角较大时,估计效果不稳定且精度较差。为此,提出了基于无迹卡尔曼滤波(UKF)的误差估计方法。通过建立水下地形匹配辅助导航系统非线性误差模型,以地形匹配和深度压力传感器测量的位置信息和深度作为量测量,设计了扩展状态UKF滤波器,在大姿态误差角下仿真研究了其估计效果。结果表明,在大姿态误差角下,本文所提出的方法可行且具有较好的估计效果,为匹配区内修正捷联惯导系统导航误差提供了参考。Conventional error estimation method based on linear filtering adopts the φangle method-based linear error model of strapdown inertial navigation system （SINS）. However, its estimation is unstable and inaccurate when attitude error angle is large. Therefore, we propose a new error estimation method based on unscented Kalman filter（UKF）. By building a nonlinear error model of navigation system with underwater terrain matching and taking terrain matching, position and depth measured by depth-pressure sensor as the measured quantities, we design a state-extended UKF for error estimation. Simulation results indicate that our method achieves better navigation error estimation for large attitude error angles.

关 键 词：水下地形匹配 捷联惯导系统 误差估计 误差模型 无迹卡尔曼滤波 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程]