运动加速度抑制的偏振光/MIMU组合导航SHKF姿态解算  

Polarized light/MIMU integrated navigation SHKF attitude solving algorithm for motion acceleration suppression

作　　者：金仁成[1] 裴森 周梓健 刘忱 张然[1] JIN Rencheng;PEI Sen;ZHOU Zijian;LIU Chen;ZHANG Ran(Key Laboratory for Micro/Nano Technology and System of Liaoning Province of Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学辽宁省微纳米技术及系统重点实验室,辽宁大连116024

出　　处：《光学精密工程》2024年第22期3277-3287,共11页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.52275281)。

摘　　要：针对无人机受大运动加速度影响时,组合导航中加速度计输出信息关于有效重力加速度的占比减少,偏振光传感器会产生抖动现象,对姿态角求解模型的准确建立进行研究。首先,引入偏振光传感器组合导航,介绍了偏振光导航的定向原理。然后,以双矢量高斯牛顿法和Sage-Husa Kalman (SHKF)算法构建级联式航姿解算算法,在多传感器的基础上观测无人机的姿态信息。最后,在分析运动加速度影响下加速度计测量结果准确性的基础上,提出信任因子解决运动加速度对姿态解算的影响,该算法可以抑制高速运动的无人机体产生的运动加速度产生的影响。为了验证该算法的可行性,基于偏振光/微型惯性测量单元(Miniature Inertial Measurement Unit,MIMU)组合导航平台进行实验,结果表明静态和动态环境中所提出算法相较于PI,EKF算法有30%左右的提升,运动加速度影响下抑制了由于非重力加速度的加入导致的姿态偏移。提高了无人机在运动加速度下的情况下的姿态解算精度,保证了无人机的正常飞行。The study examines the accurate establishment of an attitude angle calculation model for UAVs influenced by large motion accelerations.Accelerometer output shows a decreased proportion of effective gravity acceleration information,while polarization sensors exhibit jitter.First,polarization sensor inte-grated navigation was introduced,along with the orientation principle of polarization navigation.Then,a cascaded attitude solution algorithm was built using the double-vector Gauss-Newton method and the SHKF(Sage-Husa Kalman)algorithm.This algorithm observed UAV attitude information based on mul-tiple sensors.Next,based on analyzing the accuracy of accelerometer measurements under motion acceler-ation,a trust factor was proposed to mitigate the impact of motion acceleration on attitude calculation.This algorithm could suppress the effects of motion acceleration generated by high-speed UAV bodies.To verify this algorithm's feasibility,experiments were conducted on a polarization/MIMU(Micro Inertial Measurement Unit)integrated navigation platform.Results indicate a 30%improvement over PI and EKF algorithms in static and dynamic environments.The algorithm suppressed attitude deviation caused by non-gravity acceleration under motion acceleration influence.It improved the accuracy of attitude calcu-lation under motion acceleration,ensuring normal UAV flight.

关 键 词：偏振光传感器 运动加速度抑制 航姿解算 无人机 组合导航 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程] O436.3[机械工程—光学工程]