基于四元数姿态估计的捷联惯导初始对准算法  

Initial Alignment Algorithm for SINS Based on Quaternion Attitude Estimation

作　　者：周晓仁 赵鹤鸣[1] ZHOU Xiaoren;ZHAO Heming(School of Electronic and Information Engineering,Soochow University,Suzhou Jiangsu 215006,China)

机构地区：[1]苏州大学电子信息学院,江苏苏州215006

出　　处：《传感技术学报》2021年第9期1182-1188,共7页Chinese Journal of Sensors and Actuators

摘　　要：针对传统动基座捷联惯导系统OBA粗对准算法,在低精度传感器中,易受到陀螺零偏的影响,存在累计误差导致观测矢量精度低的缺点,本文研究了基于四元数的无迹卡尔曼滤波来进行载体的姿态估计。该方法可以估计陀螺仪的零偏,并在预测方程中将其去除,能够有效地抑制陀螺零偏带来的累计误差,从而提高姿态误差角的收敛精度。最后设计了仿真与车载实验,验证本文所研究算法的有效性。The performance of the traditional in-motion OBA coarse alignment algorithm of the strapdown inertial navigation system is degraded by the biases of gyroscopes,especially in low-precision sensors whose accumulated errors reduce the accuracy of the observation vectors.To solve this problem,the quaternion-based Unscented Kalman filter is studied in this paper to estimate the attitude of the carrier.Then the gyroscope biases can be estimated and eliminated effectively in the prediction equation,which suppresses the accumulated errors and improve the convergence precision of the attitude error angle.Finally,the simulation and field tests are carried out to verify the effectiveness of the algorithm studied in this paper.

关 键 词：捷联惯导系统 粗对准 姿态估计 四元数 无迹卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]