一种视觉辅助的惯性导航系统动基座初始对准方法

发布时间：2018-02-26 05:04

本文关键词： 惯性导航系统初始对准动基座视觉　出处：《中国惯性技术学报》2014年04期 　论文类型：期刊论文

【摘要】：针对惯性导航系统动基座初始对准问题,提出了一种视觉辅助的惯导系统动基座初始对准方法。建立了视觉与惯导系统测量模型,考虑了特征点位置已知和未知两种情形,分别推导了视觉和惯导系统姿态位置间的关系,设计了EKF滤波器。建立了两种情形下的滤波观测方程,设计了晃动基座初始对准仿真实验,结果表明在视觉特征点位置已知和未知两种条件下,滤波器状态均能收敛,特征点位置已知时收敛时间小于30 s,特征点位置未知时收敛时间约为300 s;在陀螺零偏为0.01(°)/h、加速度计零偏为50μg的仿真条件下,对准精度为水平姿态角优于0.004°,方位角优于0.06°。提出的视觉辅助惯导系统动基座初始对准是一条较新且可行的思路。
[Abstract]:Aiming at the problem of initial alignment of moving base of inertial navigation system, a vision-aided initial alignment method for moving base of inertial navigation system is proposed. The measurement model of vision and inertial navigation system is established, and the known and unknown position of feature points is considered. The relationship between attitude position of vision and inertial navigation system is derived, EKF filter is designed, the filter observation equation is established in two cases, and the simulation experiment of initial alignment of sloshing base is designed. The results show that the filter state can converge when the position of the visual feature point is known or unknown. When the position of the characteristic point is known, the convergence time is less than 30 s, and when the position of the characteristic point is unknown, the time of convergence is about 300 s.The simulation condition is that the bias of the gyroscope is 0.01 (掳/ h) and the zero bias of the accelerometer is 50 渭 g. The alignment accuracy is better than 0.004 掳for horizontal attitude angle and 0.06 掳for azimuth angle.
【作者单位】：国防科学技术大学航天科学与工程学院;中国人民解放军63620部队;
【基金】：国家自然科学基金(11072263))
【分类号】：TN966

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