基于DDF2的RTS平滑方法在机载分布式POS中的应用  

A RTS Smoother Based on Second-order Divided Difference Filter Applied to Airborne Distributed POS

作　　者：邹思远 李建利[1] 曲春宇 ZOU Si-yuan;LI Jian-li;Qu Chun-yu(Beijing University of Aeronautics and Astronantics,Beijing 100191)

机构地区：[1]北京航空航天大学,北京100191

出　　处：《导航与控制》2018年第6期35-41,共7页Navigation and Control

基　　金：国家自然科学基金(编号:61722103;61571030;61721091);国际合作交流项目(编号:61661136007)

摘　　要：机载分布式POS是一种基于惯性/卫星组合技术的柔性基线、多节点、高精度时空测量系统,是多任务航空遥感载荷高精度成像的关键装置。为了解决机载分布式POS因柔性基线效应导致的大失准角非线性问题,提出了将基于二阶插值微分滤波(Second-order Divided Difference Fil-ter,DDF2)的(RTS Rauch Tung Striebel,RTS)平滑方法应用于机载分布式POS。首先,针对机载分布式POS的大失准角非线性问题,建立了非线性系统状态模型和量测模型。其次,基于DDF2提出了分布式POS传递对准RTS平滑估计方法,以获取更高精度的运动参数。最后,通过半物理车载实验验证了相比传统方法,此方法的航向测量误差由0.0060°降至0.0041°,精度提高了31.67%。The distributed POS is a highly precision measurement system based on SINS/GPS integrated navigation technology. It is a key to highly-accurate imaging device for multi-task airborne loading remote sensors. The distributed position and orientation system (POS) uses transfer alignment to accurately measure multi-node time-spatial reference information. In order to solve the problem of nonlinear error, the rauch tung striebel (RTS) based on second-order divided difference filter (DDF2) for offline transfer alignment of airborne POS is proposed. Firstly, a nonlinear state and measurement model are established based on large misalignment. Then, a nonlinear RTS based on DDF2 is proposed to obtain higher-precision motion parameters for airborne POS. Finally, the experiment is carried out. The results show that the accuracy of heading is improved by 31.67%.

关 键 词：机载分布式POS 二阶插值微分滤波 非线性估计方法 RTS平滑 

分 类 号：U666.12[交通运输工程—船舶及航道工程]