SINS基于非线性量测的大失准角初始对准算法

发布时间：2018-04-19 16:12

本文选题：大失准角 + 初始对准　；参考：《宇航学报》2016年03期

【摘要】：针对陆用捷联惯导系统(SINS)大失准角初始对准问题,提出一种基于二阶非线性量测的二阶泰勒级数展开的初始对准算法。首先,将大失准角非线性对准问题,转化为具有线性系统方程和二阶非线性量测方程的滤波问题。然后,设计基于二阶非线性量测方程的二阶泰勒级数展开的滤波算法,可以在任意姿态和无初值条件下进行初始对准和参数估计。最后进行车载对准试验,结果表明,新算法可以在300 s内完成实现大失准角初始对准,对准精度与传统分段对准算法相当。
[Abstract]:In view of the initial alignment of the large misalignment angle of the land strapdown inertial navigation system (SINS), an initial alignment algorithm for the two order Taylor series expansion based on the two order nonlinear measurement is proposed. First, the problem of the nonlinear alignment of the large misalignment angle is transformed into a filtering problem with a linear system equation and a two order nonlinear measurement equation. The filtering algorithm of the two order Taylor series expansion of the two order nonlinear measurement equation can be used for initial alignment and parameter estimation under any attitude and without initial value. Finally, the vehicle alignment test is carried out. The results show that the new algorithm can accomplish the initial alignment of the large misalignment angle in 300 s, and the alignment accuracy is equivalent to the traditional piecewise alignment algorithm.

【作者单位】：西北工业大学自动化学院;中国工程物理研究院电子工程研究所;
【分类号】：U463.67;U495

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