摘要
利用四元数误差方程和非线性滤波技术能较好地解决大失准角下SINS的空中对准问题。迭代滤波比扩展卡尔曼滤波能在更大程度上改善对准精度,但计算量大。针对此不足,本文基于扩展卡尔曼滤波的状态与偏差解耦算法具有较高数值效率和迭代滤波具有较高精度的特点,推导出了一种非线性滤波算法,并对基于加性四元数误差方程的SINS/GPS组合对准进行了数字仿真。仿真结果表明:该算法既具有迭代滤波的精度又比迭代滤波计算量小。
In the case of large misalignment angles, quaternion error equation and nonlinear filtering can improve the performance of the in-flight alignment of SINS. Iterative filtering can obtain higher alignment precision than extended Kalman filtering. Separate-biased algorithm of extended Kalman filtering is utilized to reduce the large computational cost of iterative filtering. The idea of iterative filtering is introduced to put forward a non-linear filtering algorithm, which is not only of the same accuracy as iterative filtering but also of lower computational cost. The non-linear filtering algorithm is applied to the SINS/GPS integrated alignment based on quaternion error equations. Effectiveness is indicated by numerical emulation.
出处
《全球定位系统》
2006年第1期27-30,共4页
Gnss World of China
