自适应抗差CKF在SINS大方位失准角初始对准中的应用  

Adaptive Robust CKF Applied in SINS Large Azimuth Initial Alignment

作　　者：牟宏伟 韩磊 李昂阳 MU Hongwei;HAN Lei;LI Angyang(China Academy of Launch Vehicle Technology,Beijing 100076;Capital Aerospace Machinery Corporation Limited,Beijing 100076)

机构地区：[1]中国运载火箭技术研究院,北京100076 [2]首都航天机械有限公司,北京100076

出　　处：《舰船电子工程》2022年第1期44-47,134,共5页Ship Electronic Engineering

摘　　要：当捷联惯导系统失准角误差模型为大角度时,需要采用非线性滤波方法。论文研究了基于大方位失准角的初始对准技术。首先,建立了SINS/GPS非线性误差模型;其次,针对观测粗差和噪声统计特性不准确对系统的影响,提出并推导了自适应抗差CKF滤波算法;最后,通过仿真分析和试验验证,验证了该算法能增强滤波的稳定性,进而提高估计精度,缩短收敛时间。When a large angle exists in strapdown inertial navigation system misalignment angle error model,a nonlinear fil⁃tering method is required.Initial alignment technology based on large azimuth misalignment is researched in this paper.First,SINS/GPS nonlinear error model is established.Secondly,in the view of observation gross errors and inaccurate noise statistical character⁃istics,adaptive robust CKF algorithm is proposed.Finally,according to simulation analysis and experiment,adaptive robust CKF algorithm can augment the stability and improve filter estimation accuracy and convergence rate.

关 键 词：大方位失准角 初始对准 非线性误差模型 自适应抗差CK 

分 类 号：U666.12[交通运输工程—船舶及航道工程]