基于UKF的MEMS捷联惯导传递对准方法  

MEMS-SINS Transfer Alignment Based on UKF

作　　者：张波[1,2] 贾宏光 储海荣[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100039

出　　处：《计算机仿真》2015年第1期29-33,共5页Computer Simulation

基　　金：中国科学院知识创新工程国防科技创新重要项目(YYYJ-1122)

摘　　要：在飞行器导航系统优化问题的研究中,为解决MEMS捷联惯导(SINS)传递对准精度低和对准时间长的问题,提出了一种采用无迹卡尔曼滤波(UKF)的MEMS-SINS传递对准方法。首先利用欧拉平台误差角表示主子惯导坐标系之间失准角的方法,建立MEMS-SINS传递对准的大失准角误差模型。然后对建立的模型采用UKF滤波算法,使用确定性样本的方法来处理传递对准模型的非线性问题。最后对提出的传递对准方法进行仿真验证,并与扩展卡尔曼滤波(EKF)进行比较。仿真结果表明:在传递对准过程中,UKF获得了比EKF更好的对准精度和更短的对准时间,基本满足了战术级导航系统传递对准的精度要求。In order to solve the problem of low accuracy and long alignment time of MEMS strapdown inertial navigation system （SINS） transfer alignment, this paper proposed a method of MEMS-SINS transfer alignment based on unscented kalman filter （UKF）. First, by using Euler platform error angles （EPEA） to replace the misalignment between the master and slave INS, the nonlinear error model of MEMS-IMU transfer alignment for large misalignment angles was established. Then, the UKF algorithm was applied to the established model, and deterministic approach was used to deal with the nonlinear problem of sample transfer alignment model. At last, the proposed method of transfer alignment was validated through simulation, and comparing with extended kalman filter （EKF）. The simulation results show that compared with EKF, using UKF to the process of transfer alignment can obtain better alignment accuracy and less alignment time, and the result can almost reache the required precision of transfer alignment to tactics navigation system.

关 键 词：传递对准 无迹卡尔曼滤波 大失准角 捷联惯性导航系统 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]