基于平方根容积卡尔曼滤波的SINS大失准角快速对准方法  

A Fast SINS Initial Alignment Method for Large Misalignment Angles Based on SCKF

作　　者：孙钰琛[1] 段凤阳[1] 李赞平[1] 

机构地区：[1]空军航空大学飞行器控制系,长春130022

出　　处：《弹箭与制导学报》2014年第4期25-28,68,共5页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：空军武器装备重点科研项目资助

摘　　要：为提高大失准角情况下捷联惯导方位失准角的收敛速度,提出了一种以水平速度误差和等效东向陀螺输出为观测量的快速对准方法。推导了基于欧拉平台误差角的非线性误差模型和非线性观测方程,采用平方根容积卡尔曼滤波作为非线性滤波器。数字仿真表明,新方法的方位失准角收敛速度明显优于常规方法,适用于三个失准角均为大角的情况。最后,针对对准精度提出几点看法和建议。In order to improve the convergence speed of azimuth misalignment angle, a fast initial alignment method was proposed, in which the horizontal velocity error and the equivalent of the east gyro output were used as observations. The nonlinear error model and the nonlinear measurement equation based on the concept of Euler platform error angles were derived. The square-root eubature Kalman filter（SCKF） was taken as the nonlinear filter. It is proved that the proposed method is much better than the conventional method on the azimuth misalignment angle＇s convergence speed and is valid with three large initial misalignment angles through the simulation. Finally, the alignment accuracy was discussed and several views and suggestions were raised.

关 键 词：捷联惯导系统 初始对准 非线性模型 容积卡尔曼滤波 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]