GNSS辅助车载MIMU动基座初始对准方法  

GNSS-assisted initial alignment method for vehicle MIMU on moving base

作　　者：单斌 侯梦婷 王雪梅 杨波 许哲 李灿 SHAN Bin;HOU Mengting;WANG Xuemei;YANG Bo;XU Zhe;LI Can(Missile Engineering Institute,Rocket Force University of Engineering,Xi'an 710025,China)

机构地区：[1]火箭军工程大学导弹工程学院,西安710025

出　　处：《中国惯性技术学报》2023年第10期967-975,共9页Journal of Chinese Inertial Technology

基　　金：陕西省自然科学基础研究计划资助项目(2020JQ-491)。

摘　　要：为提高低精度惯导系统在行进间的初始对准精度,提出了一种全球卫星导航系统(GNSS)辅助车载微惯性测量单元(MIMU)动基座初始对准方法。在粗对准阶段,采用改进最优估计对准(OBA)方法,设计双矢量积分公式以减小积分间隔,并构建陀螺仪误差方程估计常值漂移,进而提高粗对准方法性能。在精对准阶段,使用改进的自适应抗差无迹卡尔曼滤波方法,通过引入自适应因子与抗差因子,平衡滤波估值对动力学模型和GNSS观测的信任,输出更高精度的对准结果。跑车实验结果表明:相对于传统OBA方法,改进OBA粗对准最大水平姿态角误差由2.97°降低到0.96°,航向角误差由3.36°降低到1.71°;改进后精对准方法的东向失准角RMSE为0.15°,北向失准角RMSE为0.10°,方位角失准角RMSE为0.11°。所提方法进一步增强了系统的抗差性和可靠性,能够快速有效地完成GNSS辅助MIMU动基座初始对准。In order to improve the initial alignment accuracy of low-precision inertial navigation systems,a GNSS-assisted initial alignment method for vehicle MIMU on moving base is proposed.In the coarse alignment stage,the improved optimization-based alignment(OBA)method is used to design the double vector integral formula to reduce the integral interval,and the gyroscope error equation is constructed to estimate the constant drift,so as to improve the performance of the coarse alignment method.In the fine alignment stage,the improved adaptive robust unscented Kalman filter method is used to balance the trust of the filter estimation on the dynamic model and GNSS observation by introducing the adaptive factor and the anti-difference factor.The experimental results show that compared with the traditional OBA method,the maximum horizontal attitude angle error of the improved OBA coarse alignment is reduced from 2.97°to 0.96°,and the heading angle error is reduced from 3.36°to 1.71°.The eastern misalignment angle RMSE of the improved precision alignment method is 0.15°,the north misalignment angle RMSE is 0.10°,and the azimuth misalignment angle RMSE is 0.11°.The proposed method further enhances the robustness and reliability of the system,and can quickly and effectively complete the initial alignment of GNSS-assisted MIMU moving base.

关 键 词：初始对准 微型惯性测量单元 动基座 最优估计对准 自适应抗差无迹卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]