一种改进的基于闭环反馈的大失准角传递对准算法  

An improved transfer alignment algorithm based on closed-loop feedback with large misalignment angles

作　　者：徐庚 李宁[3] 何永旭 张勇刚 XU Geng;LI Ning;HE Yongxu;ZHANG Yonggang(School of Computer Science,Harbin University of Science and Technology,Harbin 150080,China;School of Automation,Harbin University of Science and Technology,Harbin 150080,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨理工大学计算机科学与技术学院,哈尔滨150080 [2]哈尔滨理工大学自动化学院,哈尔滨150080 [3]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《中国惯性技术学报》2023年第3期213-221,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(62173105);黑龙江省普通高校基本科研业务费专项资金资助(2022-KYYWF-0137)。

摘　　要：针对传统的基于计算参数的传递对准算法在大失准角下的强非线性问题以及杆臂误差导致的传递对准精度下降问题,提出了一种改进的基于闭环反馈的大失准角传递对准算法。首先,基于快速传递对准模型,设计了全状态闭环反馈机制,通过对主、子惯导的姿态矩阵不断进行修正,实现大安装误差角估计值的快速收敛;然后,采用线性卡尔曼滤波对状态进行估计。仿真实验结果表明,相比于非线性滤波方法,所提算法在大、小安装误差角下均可以保持较高的对准精度,对准误差基本可以达到0.02°。车载试验结果也验证了所提算法具有更好的传递对准性能。Aiming at the strong nonlinear problem for the conventional computation-parameters-based transfer alignment method under large misalignment angles and the problem of the degraded alignment accuracy induced by the lever arm error,an improved transfer alignment algorithm based on closed-loop feedback with large misalignment angles is proposed.Firstly,the all-state closed-loop feedback approach is designed based on rapid transfer alignment model.The attitude matrices of main INS and slave INS are corrected to achieve the rapid convergence of estimate of large installation error angles.Then,the linear Kalman filter is implemented for the state estimation.Simulation results show that compared with the nonlinear filtering methods,the proposed algorithm can maintain higher alignment accuracy under both large and small installation angles,and the alignment error can basically reach 0.02°.The field test results also illustrate that the proposed algorithm has better performance of transfer alignment.

关 键 词：惯性导航系统 传递对准 大失准角 闭环反馈 杆臂误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]