一种基于CDKF的SINS/GPS紧组合导航算法  

An Algorithm for SINS / GPS Tightly Integrated Navigation Based on CDKF

作　　者：高延滨[1] 马涛[1] 孙尧[1] 郭婧[2] 

机构地区：[1]哈尔滨工程大学自动化学院,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：《弹箭与制导学报》2013年第4期1-3,8,共4页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国际科技合作基金(2010DFR80140)资助

摘　　要：为解决SINS/GPS紧组合导航系统在SINS初始失准角较大的情况下精度下降的问题,提出一种基于欧拉角状态的中心差分卡尔曼滤波组合导航算法。Sigma点采样时,用欧拉角作为姿态参量,保证Sigma点采样过程中姿态参量与其他参量的同步;Sigma点沿系统方程传播中,转换为四元数表示,避免欧拉角姿态解算的高计算量和复杂超越方程的求解。通过仿真实验证明,提出的方法比加性四元数算法具有更快的收敛速度和更高的精度。The accuracy of SINS/GPS integrated navigation system will decline when there is a large initial misalignment angle. To solve the problem, a navigation algorithm based on center difference Kalman filter was proposed. For the sake of the synchronization of the attitude parameters and other parameters in the process of Sigma point sampling, Euler angle was chosen as attitude parameter. In order to avoid high computation and the complexity of transcendental equation solving, Euler angles were switched to quaternions when propagate following the system equation. The simulation results show that the proposed algorithm has a higher convergence speed and accuracy than the additive quaternion algorithm.

关 键 词：SINS GPS CDKF 组合导航 欧拉角 四元数 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]