基于Kalman滤波的分段积分闭环回溯快速粗对准方法  

Kalman-filtering-based piecewise-integration closed-loop backtracking fast coarse alignment

作　　者：娄琪欣 李鼎 江奇渊 张燚 于旭东 LOU Qixin;LI Ding;JIANG Qiyuan;ZHANG Yi;YU Xudong(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410073,China;Nanhu Laser Laboratory,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学前沿交叉学科学院,长沙410073 [2]国防科技大学南湖之光实验室,长沙410073

出　　处：《导航定位与授时》2024年第2期93-102,共10页Navigation Positioning and Timing

基　　金：国家自然科学基金(62173335)。

摘　　要：快速启动能力是惯导系统的重要性能指标。为应对车辆与武器系统等在短时间内完成初始对准的需求,在基于Kalman滤波的闭环粗对准基础上提出了一种闭环回溯粗对准方法,并设计了一种分段积分矢量构建方法,使得算法能够在多次回溯的过程中构建更多不共线矢量,进一步减少粗对准所需的数据量并提升对准精度。经三轴转台及车载惯导30 s和50 s对准实验验证,本算法在短时间内的对准精度优于优化对准方法和基于Kalman滤波的闭环粗对准方法,能够满足载体进行快速初始对准的需求。Rapid start-up capability is an important indicator for inertial navigation systems.In order to meet the requirement of rapid initial alignment for vehicles and weapon systems,a closed-loop backtracking coarse alignment method is proposed based on Kalman-filtering-based coarse alignment,and a pricewise integration vector construction method is designed,which can construct more non-collinear vectors during multiple backtracking processes,further reducing the amount of data required for coarse alignment and improving accuracy.Through experiments of 30 s and 50 s coarse alignment on a three-axis turntable and a vehicle,the accuracy of this algorithm is better than that of optimization-based alignment and Kalman-filtering-based coarse alignment in a short period of time,which can meet the requirement of rapid initial alignment.

关 键 词：快速对准 回溯法 惯性导航 初始对准 

分 类 号：V249.31[航空宇航科学与技术—飞行器设计]