鲁棒无迹四元数卡尔曼滤波初始对准算法  

Robust Unscented Quaternion Kalman Filter Algorithm for Initial Alignment

作　　者：周晓仁 徐祥 赵鹤鸣[1] ZHOU Xiaoren;XU Xiang;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12期1622-1630,共9页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(61803278);东南大学微惯性仪表与先进导航技术教育部重点实验室(B类)开放基金项目(SEU-MIAN-201802)。

摘　　要：针对GPS辅助的低精度捷联惯导系统行进间初始对准时GPS易受野值的影响和陀螺零偏的累积误差导致航向角误差曲线波动的问题,提出了一种鲁棒四元数无迹卡尔曼滤波初始对准算法。首先,建立了无迹卡尔曼滤波的预测模型和量测模型,分析了GPS野值对于观测矢量的影响;然后,推导了模值匹配权值函数,结合无迹四元数卡尔曼滤波设计了鲁棒四元数无迹估计器;最后,设计了仿真与跑车实验,实验结果表明,本文所提出的算法不仅能去除GPS中的野值,还能有效抑制陀螺零偏带来的影响。To solve the problems that global positioning system(GPS)is susceptible to outliers and the fluctuating curves of heading angle error caused by cumulative error of gyroscopes,a robust quaternion unscented Kalman filter algorithm is proposed for GPS aided low precision strapdown inertial navigation system(SINS)in-motion alignment.Firstly,the prediction and measurement model of the unscented Kalman filter are constructed to analyze the influence of GPS outliers on observation vectors.Then the magnitude matching weight function is derived,based on which and the unscented quaternion Kalman filter,the robust unscented quaternion estimator is devised.Finally,the simulation and field test are carried out to verify that the proposed method in this paper can not only eliminate outliers in GPS but also suppress the influence caused by the cumulative error of gyroscopes.

关 键 词：低精度捷联惯导 初始对准 模值匹配 鲁棒无迹卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]