双矢量定姿算法提高海参捕捞装置捷联惯导系统粗对准精度

发布时间：2018-03-21 12:58

本文选题：渔业　切入点：导航　出处：《农业工程学报》2017年12期 　论文类型：期刊论文

【摘要】：针对传统解析粗对准算法中水平对准精度同时受陀螺仪和加速度计测量误差影响的问题,提出一种双矢量定姿粗对准算法,该算法在选定重力矢量为主参考矢量的前提下,预先对参与姿态解算的矢量作单位正交化处理。理论分析表明,所述算法使得水平对准精度只受加速度计水平测量误差影响,提高了捷联惯导系统粗对准精度;实测数据的试验结果表明,所述粗对准算法的水平误差角的大小不超过1°,方位误差角的大小不超过3°,在粗对准所要求的误差范围之内,为后续利用滤波方法进行精对准提供了有效的初始条件。
[Abstract]:Aiming at the problem that the accuracy of horizontal alignment is affected by the measurement errors of gyroscope and accelerometer simultaneously in the traditional analytical coarse alignment algorithm, a dual vector orientation coarse alignment algorithm is proposed, which is based on the selection of gravity vector as the main reference vector. The theoretical analysis shows that the accuracy of horizontal alignment is only affected by the level measurement error of accelerometer, and the coarse alignment accuracy of sins is improved. The experimental results show that the horizontal error angle and azimuth error angle of the rough alignment algorithm are less than 1 掳and 3 掳respectively. It provides an effective initial condition for fine alignment by filtering method.
【作者单位】：中国农业大学信息与电气工程学院;江苏师范大学电气工程及自动化学院;北京农业物联网工程技术研究中心;
【基金】：国家国际科技合作专项项目(2013DFA11320) 中央高校基本科研业务费专项资金资助项目(2016XD001)
【分类号】：TN96

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