基于UKF的大失准角船舶行进间对准技术研究  

Application of UKF in Moving Base Alignment for Large Misalignment Angles

作　　者：裴新凯 张吉先 郭玉胜 丁海旭 庄广琛 邓亮 PEI Xin-kai;ZHANG Ji-xian;GUO Yu-sheng;DING Hai-xu;ZHUANG Guang-chen;DENG Liang(Beijing Institute of Automatic Control Equipment,Beijing 100074,China;Kunming Haiwei Institute of Mechanical and Electrical Technology,Kunming 650200,China)

机构地区：[1]北京自动化控制设备研究所,北京100074 [2]昆明海威机电技术研究所,昆明650200

出　　处：《导航定位与授时》2019年第1期43-49,共7页Navigation Positioning and Timing

基　　金：十三五海军装备预研课题(3020603030058002)

摘　　要：由于标准卡尔曼滤波只适用于线性系统,通常在SINS/GPS组合导航初始对准过程中,先通过基于惯性系的粗对准方法,将失准角转化为小量,然后再进行卡尔曼滤波精对准。由于杆臂效应,使用的基准信息存在一定误差,导致初始对准精度降低。因此,首先设计UKF的大失准角初始对准算法;其次将基准信息杆臂在UKF方程中建模,对杆臂误差进行补偿;最后通过仿真验证算法的可行性,并利用海试实验数据对UKF算法与传统动基座算法进行对比,实验结果表明该方法具有明显优势。As the standard Kalman filter(KF)is only suitable for linear systems,usually in the initial alignment process of SINS/GPS integrated navigation,the misalignment angle is converted into a small amount by the coarse alignment method,and then the KF alignment is performed.The lever arm effect,which is a certain error in reference information,can result in a decrease in initial alignment accuracy.Firstly,the large misalignment angle initial alignment algorithm based on the unscented Kalman filter(UKF)is designed.Secondly,the reference information lever arm is used in the UKF filter to compensate the lever arm error.Finally,the feasibility of the proposed UKF algorithm is verified by the experiments.The experimental results show that the proposed method has obvious advantages over the traditional KF method.

关 键 词：UKF 初始对准 SINS 大失准角 杆臂估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]