基于罗经法和CDKF的捷联惯导摇摆基座自对准  

SINS swaying-base self-alignment based on compass method and CDKF

作　　者：马涛[1] 孙尧[1] 高延滨[1] 郭婧[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]国家知识产权局专利局专利审查协作北京中心,北京100190

出　　处：《传感器与微系统》2012年第7期10-13,16,共5页Transducer and Microsystem Technologies

基　　金：国际科技合作基金资助项目(2010DFR80140)

摘　　要：针对舰船和舰载武器系统存在风浪的情况下自对准精度下降的问题,提出了一种改进罗经法粗对准和利用中心差分卡尔曼滤波(CDKF)法进行精对准的捷联惯导系统摇摆基座下的自对准方法。利用经典罗经算法在惯性系下对捷联系统进行粗对准,可以在方位角存任意误差时收敛到一个精对准算法可以容忍的范围内,而CDKF精对准算法在存在相对较大的失准角下仍能实现高精度的姿态角误差估计。仿真实验证明:提出的方法对准精度高,速度快,实现简单,适用与各种无机动条件下的捷联惯性系统的自始准。Aiming at the problem of the decline in self-alignment precision of the ship and the shipboard weapon systems in the presence of waves, a self-alignment approach which coarse alignment based on compass method and fine alignment based on center difference Kalman filter is proposed. The classic compass method can make the attitude convergence to a limit accuracy which the fine alignment algorithm can be tolerated with any initial error. The fine alignment algorithm based on CDKF can estimate the attitude error accurately with a relative large misalignment angle. The simulation experiment illustrate that the proposed approach is suitable for any SINS alignment without maneuvering with high precision and fast speed, simple realization.

关 键 词：捷联惯导系统 自对准 摇摆基座 罗经法 中心差分卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]