基于自适应无迹粒子滤波的SINS大方位失准角初始对准

发布时间：2017-12-26 17:09

本文关键词：基于自适应无迹粒子滤波的SINS大方位失准角初始对准　出处：《中国惯性技术学报》2016年02期 　论文类型：期刊论文

【摘要】：针对捷联惯导系统大方位失准的情况进行分析,提出了采用了自适应UPF滤波进行初始对准的方法。该滤波器基于强跟踪滤波器的思想,通过引入衰减记忆因子有效增强当前信息残差对系统的修正作用,在一定程度上降低了由于系统简化、噪声统计特性不确定对系统造成的影响,同时较好地克服了UPF中粒子退化的现象。当系统噪声统计特性确定时,自适应UPF水平对准时间比UPF对准时间大约少200 s,方位对准时间大约少150 s,对准结束后,自适应UPF对准的纵摇、横摇以及航向误差均值分别为?0.018?、0.0074?、?0.8609?,UPF对准对应的值分别为0.0209?、0.0189?、1.0983?。当系统噪声统计特性不确定时,自适应UPF水平对准时间比UPF对准时间大约少400 s,方位对准时间大约少450 s,对准结束后,自适应UPF对准的纵摇、横摇以及航向误差均值分别为0.0105?、0.0122?、?0.7304?,UPF对准对应的值分别为0.0454?、0.0278?、2.8174?。仿真结果表明:在系统噪声统计特性确定或不确定的情况下,自适应UPF能在一定程度上提高大方位失准捷联惯导系统的初始对准速度和对准精度。
[Abstract]:Based on the analysis of the large azimuth misalignment of strapdown inertial navigation system (SINS), an initial alignment method using adaptive UPF filtering is proposed. The filter of strong tracking filter based on the idea of introducing the fading memory factor correction system to effectively enhance the effect of residual current information, to a certain extent reduces the system simplification, the statistical characteristics of the noise uncertainty of the impact on the system at the same time, which can better overcome the particle degradation phenomenon in UPF. When determining the statistics of the system noise, an adaptive UPF level alignment time alignment time is about 200 smaller than UPF s, about 150 less s azimuth alignment, alignment after the end of pitch, roll and adaptive UPF alignment heading error mean respectively? 0.018?, 0.0074?, 0.8609?? UPF, the corresponding alignment = 0.0209?, 0.0189?, 1.0983?. When the statistics of the system noise uncertainty, adaptive UPF horizontal alignment time alignment time about 400 less than the UPF s, about 450 less s azimuth alignment, alignment after the end of pitch, roll and adaptive UPF alignment heading error values are 0.0105, 0.0122, 0.7304???? UPF, the corresponding alignment = 0.0454?, 0.0278?, 2.8174?. The simulation results show that adaptive UPF can improve the initial alignment speed and alignment accuracy of sins with large azimuth to a certain extent under the condition that the statistical characteristics of the system noise are determined or uncertain.
【作者单位】：东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室;常州信息职业技术学院电子与电气工程学院;
【基金】：国家自然科学基金项目(61473085,51175082,51375088,61273056)
【分类号】：TN96
【正文快照】： 初始对准是捷联惯导系统中的关键技术之一,其对准时间和精度直接影响惯导系统的工作性能[1]。随着导航系统应用领域的不断拓展,大多数应用环境不能满足初始失准角为大角度和噪声为高斯白噪声的条件,此时继续使用传统导航系统线性化模型和卡尔曼滤波(Kalman Filter,KF)将会产生

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