一种基于回溯过程的里程计辅助SINS初始对准方法  

An odometer aided SINS initial alignment method based on backtracking process

作　　者：林宇森 缪玲娟[1] 周志强[1] LIN Yusen;MIAO Lingjuan;ZHOU Zhiqiang(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《中国惯性技术学报》2022年第6期701-708,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(62173040)。

摘　　要：为提高陆用定位定向系统在行进间的初始对准精度,提出了一种基于回溯过程的里程计辅助捷联惯性导航系统行进间对准方法,在一定程度缩短了行进间的初始对准时间。所提方法分为粗对准阶段和精对准阶段。在粗对准阶段,采用基于回溯过程的改进惯性系解析对准提高了初始姿态阵的精度。在精对准阶段,使用基于回溯过程的卡尔曼滤波进一步提高对准和位置估计精度。仿真试验表明,所提方法能够自主高效地完成高精度初始对准和里程计辅助对准期间的位置估计,相比于现有算法其航向角估计精度提高了45.1%,位置估计精度提高了58.1%。In order to improve in-motion initial alignment accuracy of land positioning and orientation system,an in-motion alignment method based on backtracking process for odometer aided strapdown inertial navigation system is proposed,which can shorten initial alignment time to a certain extent.The proposed method can be divided into coarse alignment stage and fine alignment stage.In the coarse alignment stage,the accuracy of the initial attitude matrix is improved by using the improved inertial frame analytical alignment based on the backtracking process.In the fine alignment stage,Kalman filter based on the backtracking process is used to further improve the attitude and position estimation accuracy.Simulation results show that the proposed method can independently and efficiently complete the high-accuracy initial alignment and position estimation aided by odometer.Compared with the existing algorithm,the yaw angle estimation accuracy is improved by 45.1%,and the position estimation accuracy is improved by 58.1%.

关 键 词：回溯过程 里程计辅助SINS 行进间 初始对准 

分 类 号：U666.1[交通运输工程—船舶及航道工程]