基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法

发布时间：2018-03-29 07:16

本文选题：求积分卡尔曼滤波　切入点：捷联惯导系统　出处：《东南大学学报(自然科学版)》2014年02期

【摘要】：为了改善大方位角初始对准精度和缩短收敛时间,在SINS动基座初始对准中引入了简化的Gauss-Hermite求积分卡尔曼滤波(QKF)方法.首先分析了Gauss-Hermite求积分中的单变量Gauss点及其系数配置方法,然后采用直接张量积法将单变量配置扩展后得到多变量Gauss点及其系数配置方法,给出了简化的QKF滤波算法.最后通过数学仿真分析比较了单变量积分点数为3的QKF(3点QKF)与比例对称采样UKF的对准性能,以及单变量积分点数取不同值(3,5和7)对QKF滤波性能的影响.结果表明:在动基座SINS大方位角初始对准中,3点QKF的对准精度远高于UKF的精度,方位角估计收敛速度也快于UKF,并且随着单变量Gauss积分点数的增加,QKF对准精度会进一步提高.
[Abstract]:In order to improve the accuracy of the initial alignment of large azimuth and shorten the convergence time, the simplified Gauss-Hermite integral Kalman filter (QKF) method is introduced into the initial alignment of the SINS moving base. Firstly, the single-variable Gauss points and the collocation of their coefficients in the Gauss-Hermite integral are analyzed. Then the multivariable Gauss point and its coefficient collocation method are obtained by extending the single variable configuration with direct tensor product method. A simplified QKF filter algorithm is presented. Finally, the alignment performance of QKF(3 point QKF with single variable integral point 3 and proportional symmetric sampling UKF is analyzed and compared by mathematical simulation. As well as the influence of the single variable integral points on QKF filtering performance. The results show that the alignment accuracy of QKF at 3 points in the initial alignment of SINS with large azimuth angle is much higher than that of UKF, and the accuracy of QKF is much higher than that of UKF in the initial alignment of SINS with large azimuth angle of moving pedestal. The convergence rate of azimuth estimation is also faster than that of UKF, and the accuracy of QKF alignment will be further improved with the increase of single variable Gauss integral points.
【作者单位】：东南大学仪器科学与工程学院;三峡大学计算机与信息学院;
【基金】：国家自然科学基金资助项目(61374215)
【分类号】：TN966

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