双矢量定姿算法提高海参捕捞装置捷联惯导系统粗对准精度  

Double-vector attitude determination algorithm improving coarse alignment accuracy of strapdown inertial navigation system for sea cucumber fishing device

作　　者：包建华[1,2,3] 乔曦[1,3] 李道亮[1,3] 

机构地区：[1]中国农业大学信息与电气工程学院,北京100083 [2]江苏师范大学电气工程及自动化学院,徐州221116 [3]北京农业物联网工程技术研究中心,北京100083

出　　处：《农业工程学报》2017年第12期286-292,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家国际科技合作专项项目(2013DFA11320);中央高校基本科研业务费专项资金资助项目(2016XD001)

摘　　要：针对传统解析粗对准算法中水平对准精度同时受陀螺仪和加速度计测量误差影响的问题,提出一种双矢量定姿粗对准算法,该算法在选定重力矢量为主参考矢量的前提下,预先对参与姿态解算的矢量作单位正交化处理。理论分析表明,所述算法使得水平对准精度只受加速度计水平测量误差影响,提高了捷联惯导系统粗对准精度;实测数据的试验结果表明,所述粗对准算法的水平误差角的大小不超过1°,方位误差角的大小不超过3°,在粗对准所要求的误差范围之内,为后续利用滤波方法进行精对准提供了有效的初始条件。Autonomous navigation is one of the key technologies for an intelligent agricultural equipment, which has been widely used in modem agricultural production. Sea cucumber production and consumption are very large in China. At present, the sea cucumber harvest mainly relies on trawl or artificial fishing, which will cause a potential hazard to the health of divers and the marine ecology. Therefore, in order to overcome the shortcomings of traditional sea cucumber fishing methods, it is necessary to develop a sea cucumber fishing device with autonomous navigation and positioning functions. Strapdown inertial navigation system （SINS） is suitable for the navigation of the autonomy, passivity and complete navigation parameters. For the autonomous sea cucumber fishing device because of its SINS, initial alignment must be completed before starting a navigation mission. The purpose of the initial alignment is to determine the initial position of the carrier coordinate system relative to the navigation coordinate system, that is, to determine the initial value of the attitude matrix. Initial alignment is one of the key technologies of SINS, which is divided into coarse alignment and fine alignment, and the coarse alignment accuracy will directly determine the performance of the initial alignment. Therefore, it is of practical value to study a coarse alignment scheme with simple algorithm and high alignment precision. The traditional analytical coarse alignment algorithm directly utilizes the earth gravity vector and the earth rotation angular velocity vector to estimate the initial attitude matrix. In view of the problem that the horizontal alignment accuracy of SINS is affected by the measurement errors of gyroscope and accelerometer in the traditional analytical coarse alignment algorithm, a novel coarse alignment algorithm based on double-vector attitude determination is proposed. In general, the measurement error of the accelerometer is much smaller than that of the gyroscope, so the earth gravity vector in the pro

关 键 词：渔业 导航 算法 捷联惯导 粗对准 双矢量定姿 静基座 海参捕捞 

分 类 号：TN966[电子电信—信号与信息处理] TP391.9[电子电信—信息与通信工程]