基于方位大失准角捷联惯性导航系统初始对准问题的研究  

Study on Initial Alignment of Strapdown Inertial Navigation System Based on Azimuth and Large Misalignment Angle

作　　者：李宏成[1] 

机构地区：[1]江西理工大学,江西赣州341000

出　　处：《科技广场》2015年第8期6-13,共8页Science Mosaic

摘　　要：本文针对静基座下的捷联惯性导航系统(Strapdown Inertial Navigation Systems,简称SINS)初始对准问题,提出了一种容积卡尔曼滤波(Cubature Kalman Filter,简称CKF)与扩展卡尔曼(Extended Kalman Filter,简称EKF)相结合的非线性滤波方法,并在基于静基座较大失准角的数学模型下进行仿真实验分析。仿真结果表明,对于水平失准角来说E-CKF的滤波效果与同维数的EKF精度基本一致,但在大的方位失准角下,E-CKF方位失准角估计误差比EKF的估计误差减小大约2.5'。For the problem of Strapdown Inertial Navigation System on stationary base under the initial alignment, the paper proposes a new nonlinear filtering method which combines the Cubature Kalman Filter and Extended Kalman Filter. Therefore, under the situation of large azimuth misalignment angle, the paper establishes a mathematical model based on stationary base. Simulation results show that： For the horizontal misalignment angle,the filtering effect of EKF is equal to E-CKF; but in large azimuth misalignment angle, the azimuth misalignment angle estimation error of E-CKF is reduced than the estimated error of about EKF 2.5＇.

关 键 词：初始对准 容积卡尔曼滤波器 失准角 捷联惯性导航系统 

分 类 号：U666[交通运输工程—船舶及航道工程]