纬度未知条件下捷联惯导摇摆基座自对准方法  

Self-alignment algorithm for swaying SINSunder geographic latitude uncertainty

作　　者：李敬春 张亚 段海滨[3] LI Jing-chun;ZHANG Ya;DUAN Hai-bin(Peng Cheng Laboratory,Shenzhen Guangdong 518055,China;School of Instrumentation Science and Engineering,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China)

机构地区：[1]鹏城实验室,广东深圳518055 [2]哈尔滨工业大学仪器科学与工程学院,黑龙江哈尔滨150001 [3]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《控制理论与应用》2023年第1期39-46,共8页Control Theory & Applications

基　　金：科技创新2030-“新一代人工智能”重大项目(2018AAA0102403);国家自然科学基金项目(U20B2071,U1913602,U19B2033);中国博士后科学基金项目(2020M682824)资助。

摘　　要：针对纬度未知条件下捷联惯导摇摆基座自对准问题,本文将其看作基于特征值分解的优化问题处理,提出一种基于地球系重力矢量的摇摆基座自对准方法.首先,构建基于速度增量形式的目标函数,建立不依赖外部纬度信息的地球系下重力矢量模型,以提高地球系下重力矢量的估计精度;然后,将摇摆基座自对准看作Wahba姿态确定问题,基于地球系下重力矢量建立关于惯性系转换四元数的速度增量式目标函数,增强对噪声及振荡干扰的抑制,利用基于特征值分解的多矢量优化方法完成摇摆基座自对准,以提高对准精度;最后,通过设置捷联惯导摇摆基座初始对准仿真及船舶系泊实验,验证了所提方法的有效性.Aimed at solving the initial alignment problem of swaying strapdown inertial navigation system(SINS)under geographic latitude uncertainty,which is considered as an eigenvalue decomposition optimization-based alignment problem in the paper,a self-alignment algorithm based on the gravity vector in earth frame is proposed.Firstly,the velocity increment-based objective function is constructed to represent the gravity vector in earth frame without the aid of external latitude information,which can improve the estimation accuracy of the gravity vector in earth frame.Secondly,the selfalignment of swaying SINS is transformed into aWahba problem and the gravity vector-based objective function in velocity increment form is built to restrain the disturbances of the sensor noises and oscillations.Then the eigenvalue decompositionbased optimization method is employed to determine the accurate attitude quaternion on the swaying base.Finally,both simulations and ship mooring experiment under the swaying base are carried out,and the results verify the effectiveness and superiority of the proposed algorithm under geographic latitude uncertainty.

关 键 词：捷联惯导系统 摇摆基座 自对准 纬度未知 特征值分解 重力表观运动 

分 类 号：TN96[电子电信—信号与信息处理]