简化七阶CQKF及其在SINS大失准角初始对准中的应用  

A Seventh-Degree Simplified CQKF and Its Application in SINS Initial Alignment of Misalignment Angle

作　　者：孟东[1] 缪玲娟[1] 邵海俊 沈军[1] MENG Dong;MIAO Ling-juan;SHAO Hai-jun;SHEN Jun(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《宇航学报》2018年第8期905-912,共8页Journal of Astronautics

基　　金：国家自然科学基金(6153002);总装备部预先研究基金(51309030104)

摘　　要：针对捷联惯性导航系统(SINS)大失准角初始对准的滤波过程,提出简化七阶正交容积卡尔曼滤波算法(7th-SCQKF)。根据简化容积卡尔曼滤波(CKF)理论,推导出改进的简化七阶CKF算法(7th-MSSRCKF),改进了原简化七阶CKF(7th-SSRCKF)的性能;同时,在7th-SSRCKF和7th-MSSRCKF基础上,引入正交半径准则,提出简化七阶CQKF(7th-SCQKF)算法,提高了滤波精度;并将简化七阶CQKF(7th-SCQKF)算法应用到SINS的大失准角初始对准仿真中,结果表明,7th-SCQKF比7th-MSSRCKF的滤波精度高,验证了新算法的正确性和有效性。A seventh-degree orthogonal simplified cubature Kalman filter algorithm（7 th-SCQKF） is proposed for the initial alignment of a strapdown inertial navigation system（SINS）. According to the simplified CKF theory,this paper introduces the improved seventh-order simplified CKF algorithm（7 th-MSSRCKF）,which improves the performance of the original seventh-degree simplified CKF（7 th-SSRCKF）. At the same time,on the basis of the 7 th-SSRCKF and 7 thMSSRCKF,the 7 th-SCQKF is proposed to improve the filtering accuracy. In the meantime,the seventh-degree simplified CQKF（7 th-SCQKF） algorithm is applied to SINS＇s large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7 th-SCQKF is higher than that of the 7 th-MSSRCKF,which verifies the correctness and validity of the new algorithm.

关 键 词：SINS 正交卡尔曼滤波 高阶滤波 简化CKF算法 

分 类 号：TN927.2[电子电信—通信与信息系统]