基于自适应无迹粒子滤波的SINS大方位失准角初始对准  

Initial alignment of large azimuth misalignment in SINS based on adaptive unscented particle filter

作　　者：孙进[1] 徐晓苏[1] 刘义亭[1] 张利斌[2] 

机构地区：[1]东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]常州信息职业技术学院电子与电气工程学院,常州213164

出　　处：《中国惯性技术学报》2016年第2期154-159,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61473085;51175082;51375088;61273056)

摘　　要：针对捷联惯导系统大方位失准的情况进行分析,提出了采用了自适应UPF滤波进行初始对准的方法。该滤波器基于强跟踪滤波器的思想,通过引入衰减记忆因子有效增强当前信息残差对系统的修正作用,在一定程度上降低了由于系统简化、噪声统计特性不确定对系统造成的影响,同时较好地克服了UPF中粒子退化的现象。当系统噪声统计特性确定时,自适应UPF水平对准时间比UPF对准时间大约少200 s,方位对准时间大约少150 s,对准结束后,自适应UPF对准的纵摇、横摇以及航向误差均值分别为?0.018?、0.0074?、?0.8609?,UPF对准对应的值分别为0.0209?、0.0189?、1.0983?。当系统噪声统计特性不确定时,自适应UPF水平对准时间比UPF对准时间大约少400 s,方位对准时间大约少450 s,对准结束后,自适应UPF对准的纵摇、横摇以及航向误差均值分别为0.0105?、0.0122?、?0.7304?,UPF对准对应的值分别为0.0454?、0.0278?、2.8174?。仿真结果表明:在系统噪声统计特性确定或不确定的情况下,自适应UPF能在一定程度上提高大方位失准捷联惯导系统的初始对准速度和对准精度。An initial alignment method for Strapdown inertial navigation system（SINS） when with large azimuth misalignment angle is proposed based on an adaptive unscented particle filter（UPF）. Inspired by strong tracking filter, a memory attenuation factor is introduced in this adaptive UPF to effectively correct the system by the current information residual. This adaptive UPF can help reduce the influence of the simplified model and the uncertain statistical properties＇ noise on the system. Meanwhile, this filter could retard the particle degenerating which often occurs in the particle filter. When the statistics of the system noise is certain, the level alignment time of adaptive UPF is about 200 s less than that of UPF, the azimuth alignment time is about 150 s less; while after the alignment, the pitching, rolling and heading error mean of the adaptive UPF are ？0.018？, 0.0074？ and ？0.8609？respectively, and the corresponding values of UPF are 0.0209？, 0.0189？ and 1.0983？ respectively. When the statistics of the system noise is uncertain, the level alignment time of adaptive UPF is about 400 s less than that of UPF, the azimuth alignment time is about 450 s less; while after the alignment, the pitching, rolling and heading error mean of the adaptive UPF are 0.0105？, 0.0122？ and ？0.7304？ respectively, and the corresponding values of UPF are 0.0454？, 0.0278？ and 2.8174？ respectively. Simulation results show that the adaptive UPF can improve the alignment accuracy and speed of the SINS, no matter the statistical properties of the noise be sure or not.

关 键 词：捷联惯导系统 大失准角 初始对准 无迹粒子滤波 自适应无迹粒子滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]