晃动基座行进间对准问题的QUEST算法

发布时间：2018-06-22 20:46

本文选题：捷联惯导系统 + 晃动基座　；参考：《中国惯性技术学报》2017年02期

【摘要】：针对惯导系统晃动基座行进间初始对准问题,提出了一种基于重力矢量的QUEST(Quaternion Estimator)姿态最优估计算法。在传统基于重力矢量的初始对准方法基础上,将方向余弦矩阵的求解过程转换为Wahba问题,实现对重力矢量信息的充分利用,并通过QUEST算法实现了晃动基座下行进间粗对准的最优算法,改善了原有算法鲁棒性以及实时性等方面的问题。仿真和湖试实验验证表明,更改后的算法能够明显提高惯导系统在动基座下的姿态估计速度和精度,特别在周期性线振动环境下的对准精度能够提高一个数量级。多航次的湖试实验结果表明,改进后的算法能够有效提高航向对准精度,综合导航速度精度能够提高50%左右。
[Abstract]:A Quaternion Estimator (Quaternion Estimator) attitude estimation algorithm based on gravity vector is proposed to solve the problem of initial alignment between the sloshing pedestal of inertial navigation system. Based on the traditional initial alignment method based on gravity vector, the solution process of directional cosine matrix is transformed into Wahba problem, which can make full use of gravity vector information. The optimal algorithm of coarse alignment under the sloshing base is realized by quest algorithm, which improves the robustness and real-time performance of the original algorithm. The simulation and lake experiment show that the modified algorithm can obviously improve the speed and accuracy of the inertial navigation system attitude estimation under the moving base, especially the alignment accuracy of the inertial navigation system under the periodic line vibration environment can be improved by an order of magnitude. The experimental results of multi-voyage lake test show that the improved algorithm can effectively improve the accuracy of heading alignment and the speed accuracy of integrated navigation can be improved by about 50%.
【作者单位】：北京理工大学自动化学院;北京自动化控制设备研究所;
【基金】：海装“十三五”预先研究课题(3020603030403)
【分类号】：TN96

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