一种单轴旋转INS大方位失准角下快速对准方法  

Rapid initial alignment of large azimuth misalignment angle for single-axis rotary INS

作　　者：于化鹏[1] 郭正东[1,2,3] 蔡鹏[1] 海深[4] 莫军[1] 

机构地区：[1]海军潜艇学院,山东青岛266042 [2]中国科学院海洋研究所,山东青岛266071 [3]中国科学院大学,北京100049 [4]铜陵学院数学与计算机学院,安徽铜陵244000

出　　处：《舰船科学技术》2015年第10期100-104,共5页Ship Science and Technology

基　　金：国家高技术研究发展计划(863计划)资助项目

摘　　要：以单轴连续旋转式惯导系统为研究对象,针对惯导系统误差模型的非线性本质和对初始对准快速性的要求,通过推导其静基座条件下大方位失准角误差方程,设计一种利用超球体单形采样的UKF滤波器,并通过实际测试验证其有效性。实验结果表明,利用所设计的UKF滤波算法,10 min方位角对准精度能够达到优于0.008°。The single-axis rotary inertial navigation system（ INS） is studied. Regarding the nonlinearity nature of the INS error dynamic model and the requirement of initial alignment rapidity,an unscented Kalman filter with spherical simplex sampling is designed by deriving the large azimuth misalignment angle error equations of the single- axis rotary strapdown INS on stationary base. Then,tests are done on a postulate system to verify the effectiveness of the UKF approach. The experimental results show that,by using the designed UKF approach,azimuth angle precision within 10 minutes has achieved to be less than 0. 008°.

关 键 词：大失准角 初始对准 无迹卡尔曼滤波 旋转 

分 类 号：U666.1[交通运输工程—船舶及航道工程]