SINS任意失准角无奇异快速传递对准  

Nonsingular Rapid Transfer Alignment for SINS at Random Misalignment Angles

作　　者：崔潇[1] 秦永元[1] 严恭敏[1] 周琪[2,3] CUI Xiao;QIN Yong-yuan;YAN Gong-min;ZHOU Qi(School of Automation,Northwestem Polytechnical University,Xi＇an 710129,China;Xi＇an Flight Automatic Control Research Institute,Xi＇an 710065,China;Science and Technology on Aircraft Control Laboratory,Xi＇an 710065,China)

机构地区：[1]西北工业大学自动化学院,西安710129 [2]西安飞行自动控制研究所,西安710065 [3]飞行器控制一体化技术国防科技重点实验室,西安710065

出　　处：《宇航学报》2018年第10期1127-1133,共7页Journal of Astronautics

基　　金：航空科学基金(20165853041)

摘　　要：针对战术级捷联惯导系统(SINS)任意失准角下的快速传递对准,提出一种直接姿态矩阵线性矩阵卡尔曼滤波的传递对准算法。首先,利用姿态矩阵描述姿态,将传统大、小失准角条件下的强非线性、线性滤波对准问题统一转化为一个线性滤波问题;然后,采用矩阵形式卡尔曼滤波对状态进行估计,得到一种线性矩阵滤波对准算法,可以在任意失准角、无初值条件下完成对准;最后,推导姿态矩阵正交约束条件下滤波算法的最优实现。仿真结果表明,算法适用于任意失准角下的传递对准,在摇摆运动下,可以在10 s内完成快速传递对准,水平精度达到0. 02°(误差均方根)以内,航向精度达到0. 03°(误差均方根)以内。Aiming at the problem of strapdown inertial navigation system（SINS） initial alignment,a linear matrix filter-based transfer alignment algorithm is proposed. Firstly,based on the attitude matrix description without making any assumption on misalignment angle,the alignment problem is transformed into the linear filter problem of the relative attitude between the master INS and slave INS. Then,a matrix Kalman filter is implemented for the estimation of the relative attitude matrix at random misalignment angles and without initial value. Furthermore,a constrained matrix Kalman filter is developed which enforces the property of the orthogonality on the attitude matrix estimate. The Monte-Carlo simulations show that the proposed algorithm can accomplish the alignment at random misalignment angles and exhibits a better transient and a better steady-state accuracy than the traditional algorithm. Under the sway maneuver,the horizontal and heading precisions are within 0. 02° and 0. 03° in 10 s respectively.

关 键 词：传递对准 失准角 正交约束 矩阵卡尔曼滤波 

分 类 号：U666.12[交通运输工程—船舶及航道工程]