基于姿态跟踪的LINS晃动基座初始对准  

LINS Initial Alignment Algorithm Based on the Attitude Tracking Approach for a Rocking Base

作　　者：李汉舟[1] 潘泉[1] 王小旭[1] 张娟妮 邓麟 

机构地区：[1]西北工业大学自动化学院,西安710072 [2]航天科技集团第16研究所,西安710100

出　　处：《光子学报》2015年第5期128-133,共6页Acta Photonica Sinica

基　　金：国家自然科学基金重点项目(No.61135001);国家自然科学基金青年项目(No.61203234)资助

摘　　要：为了提高激光捷联惯性导航系统在晃动基座上的初始对准准确度,将惯性仪表数据的低频波动看作载体真实姿态晃动的反映,采用对准算法跟踪这种姿态变化.粗对准在惯性坐标系进行,利用惯性系对准对姿态变化敏感的特性,跟踪载体姿态角变化,确保粗对准误差为小角度;精对准采用标准Kalman滤波,避免了复杂的非线性算法,将两个水平加速引入Kalman滤波的量测向量,利用水平加速度对姿态角变化的敏感性,提高了Kalman滤波对准算法跟踪载体姿态变化的能力.提出了一种晃动基座对准准确度的考核方法,通过激光捷联惯性导航系统车载晃动对准和跑车试验,表明所提对准算法可以在风扰、发动机工作、人员晃动等干扰条件下,实现自对准,对准时间180s,对准重复性为0.04°,跑车水平定位误差达到770m/h,满足高准确度惯性导航设备要求.In order to improve the accuracy, a high precision alignment of laser inertial navigation system was proposed based on the attitude tracking approach for a rocking base. The low frequency changes of the attitude angle could be considered as a useful signal that reflects the true motion of the base, which should not be removed, but should be tracked. The coarse alignment was carried out in the inertial coordinate system, which was sensitive to attitude change and could track the attitude swaying. The alignment errors were ensured to be a small value after the coarse alignment. The standard Kalman filter was employed in fine alignment to avoid to use the complex nonlinear algorithm. Two horizontal accelerations were added into the measurement vector besides of two level velocities, which can improve the tracking capability of Kalman filter. The alignment accuracy was checked by the repetitiveness of the final alignment results with the alignment from different starting time to the same end time. A high precision laser strapdown inertial navigtion system was used to verify the algorithm. It is shown that the alignment precision is about 0.04° by the alignment experiment on rocking vehicle, and the alignment time needs 180 s, the level position error is 770 m/h, and the proposed algorithm can satisfy with need of the high precision laser inertial navigation alignment.

关 键 词：激光惯性导航系统 初始对准 KALMAN滤波 晃动基座 姿态跟踪 激光陀螺 

分 类 号：U666.1[交通运输工程—船舶及航道工程]