基于欧拉角的李群捷联惯导误差模型分析与比较研究  

Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system

作　　者：朱天高 刘勇[2] 李开龙[1] 赵仁杰 ZHU Tiangao;LIU Yong;LI Kailong;ZHAO Renjie(College of Electrical Engineering,Naval University of Engineering,Wuhan 430033,China;College of Ship and Ocean,Naval University of Engineering,Wuhan 430033,China;Representative Bureau of Naval Armament Department in Beijing,Beijing 100071,China)

机构地区：[1]海军工程大学电气工程学院,湖北武汉430033 [2]海军工程大学舰船与海洋学院,湖北武汉430033 [3]海装驻北京地区军事代表局,北京100071

出　　处：《系统工程与电子技术》2023年第10期3265-3273,共9页Systems Engineering and Electronics

基　　金：国家自然科学基金(61873275,42074010,42174051)资助课题。

摘　　要：惯导姿态、速度状态量同时纳入一个群中,且按照误差的两种定义可构成李群左误差模型和右误差模型。针对基于欧拉角的两种李群误差模型进行了比较研究,分析了两种李群误差模型的差异。针对捷联惯性导航系统(strapdown inertial navigation system,SINS)/全球定位系统(global position system,GPS)和SINS/多普勒计程仪(Doppler velocity log,DVL)两种典型组合导航系统应用,提出合适的误差模型选择方案。车载和船载实验结果表明,两种李群误差模型分别更适用于SINS/GPS和SINS/DVL组合导航系统,尤其是在大失准角条件下效果更为显著,两种李群误差模型具有更好的定位精度、收敛速度和稳定性。The attitude and velocity of inertial navigation are included in a group at the same time.Accor-ding to two kinds of definition of error,the left error model and right error model of Lie group are formed.In view of two Lie group error models based on Euler angles,a comparison and analysis of two error models are carried out,and the difference of two error models based on Lie group is given.In view of two typical integrated navigation system of strapdown inertial navigation system(SINS)/global position system(GPS)and SINS/Doppler velocity log(DVL),a suitable error model selection scheme is proposed.The vehicle test and boat test results show that the two error models based on Lie Group are more suitable to SINS/GPS and SINS/DVL respectively,especially with large initial misalignment angles.The selected error model has a better position accuracy,convergence speed and stability.

关 键 词：捷联惯导系统 组合导航 误差模型 李群 欧拉角 

分 类 号：U666.11[交通运输工程—船舶及航道工程]