摘要
惯性导航系统在开始工作时需要进行初始对准从而确定初始姿态。提出了一种与经典的对准算法如陀螺罗经或卡尔曼滤波技术不同的凝固惯性系快速(IF3)对准算法。可在任意初始误差条件下进行对准,且能适应高频扰动环境。将姿态矩阵分解成地球自转、惯性速率和对准矩阵三个部分。对准矩阵依靠两组分别处于不同惯性系里的观测向量确定。通过采用前置平滑滤波、层叠采样和二重积分技术,对准精度显著改善。在载车发动机怠速运行和人员上下车扰动条件下,60 s 对准误差优于 1 mil (1s ),180 s 对准误差优于 0.6 mil(1s ),300 s 对准误差优于 0.4 mil(1s )。实验结果证明了 IF3 对准算法的快速性、准确性和鲁棒性。
An initial alignment is needed to determine the initial attitude when inertial navigation system(INS) start to work. In this paper, an inertial fixed frame fast(IF3) alignment algorithm is devised, in contrast to the classic alignment algorithms, such as gyrocompassing and Kalman filtering techniques. Unlike classic techniques, the IF3 alignment is effective with any initial attitude error, as well as high frequency vibrations. The estimator is based on decomposing the attitude matrix into separate earth motion, inertial rate, and alignment matrix. And the alignment matrix is determined by two sets of observation vectors in different inertial fixed frames. By smooth pre-filtering, interleaved sampling and double integrating the observation vectors, it is shown that the precision of attitude estimates is improved. The IF3 alignment heading error is less than 1 mil(1?) within 60 s, 0.6 mil(1?) within 180 s, and 0.4 mil(1?) within 300 s under the condition that the vehicle engine is running at idle and intended introducing the perturbation caused by a person’s getting on and off the vehicle. Experiment tests favorably demonstrate its rapidness, accuracy and robustness.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2014年第4期459-462,556,共5页
Journal of Chinese Inertial Technology
基金
国防重点预研项目(51309010303)
关键词
凝固惯性系快速对准
前置平滑滤波
层叠采样
多重积分
inertial fixed frame fast alignment
smooth pre-filtering
interleaved sampling
multiple integral
