基于最小二乘拟合法的分布式POS全局估计方法  

Global estimation method based on least square fitting for distributed POS

作　　者：叶文 刘艳红 王博 蔡晨光[1] 李建利[2] YE Wen;LIU Yanhong;WANG Bo;CAI Chenguang;LI Jianli(Institute of Mechanics and Acoustics,National Institute of Metrology,China,Beijing 100029,China;School of Instrumentation and Optoelectronic Engineering,Beihang University,Beijing 100083,China)

机构地区：[1]中国计量科学研究院力学与声学计量科学研究所,北京100029 [2]北京航空航天大学仪器科学与光电工程学院,北京100083

出　　处：《北京航空航天大学学报》2020年第5期862-869,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家重点研发计划(2017YFF0205003);国家自然科学基金(61901431,61421063,61722103,61571030,51605461)。

摘　　要：针对无法保证各子阵天线附近均安装高精度子惯性测量单元(IMU)的问题,提出了一种基于最小二乘拟合的分布式位置姿态测量系统(POS)全局估计方法。首先,建立了考虑一维柔性变形角的主/子传递对准误差模型;然后,采用卡尔曼滤波(KF)估计已安装子IMU的子阵天线运动参数;最后,在已获取运动参数的基础上,采用最小二乘拟合估计未安装子IMU的子阵天线运动参数。半物理仿真实验结果表明,所提方法精确实现了阵列天线运动参数的全局估计,且未安装子IMU的子阵天线运动参数估计精度与相邻的子阵天线运动参数估计精度相当。Aimed at the problem that it is impossible to install high-precision sub-Inertial Measurement Unit(IMU) on every sub-array in engineering practice, a global estimation method based on the least square fitting for distributed Position and Orientation System(POS) is proposed. Firstly, a transfer alignment error model from master system to slave system considering one-dimensional flexibility deformation is built. Secondly, Kalman Filter(KF) is used to estimate motion parameters of array antenna of the sub-arrays with sub-IMUs. Finally, the least square fitting is used to estimate the motion parameters of the sub-arrays without sub-IMU. The semi-physical simulation results show that the proposed method can realize the global estimation of the motion parameters of array antenna, and the estimation precision of the motion parameters of sub-arrays without sub-IMU is almost the same as that of its neighboring sub-arrays.

关 键 词：惯性测量单元(IMU) 传递对准 卡尔曼滤波(KF) 最小二乘拟合 分布式位置姿态测量系统(POS) 

分 类 号：V243.5[航空宇航科学与技术—飞行器设计]