摘要
针对机载惯性/全球导航卫星系统(INS/GNSS)组合导航系统地面静基座对准时间较长、航向对准精度较低以及惯导空中故障重启后无法快速得到精确姿态信息重新进入导航状态等问题,提出一种快速初始对准方法。该对准方法基于惯性导航比力方程,利用GNSS的定位、测速信息与惯性测量组件(IMU)的输出信息解算载体姿态信息,并结合遗传-牛顿算法与求和自回归滑动平均(ARIMA)模型卡尔曼滤波信号降噪技术提高姿态信息的解算精度。基于实测飞行数据的解算验证了该方法的有效性、对准精度以及在实际工程应用中的优越性。
The static alignment of an inertial navigation system/global navigation satellite system（INS/GNSS） integrated navigation system usually takes a long time and the azimuth accuracy is low.Besides,the navigation system cannot obtain accurate attitude information while recovering from malfunctions in flight.To solve the above problems,a novel alignment method based on specific force equation is proposed which utilizes GNSS and inertial measurement unit（IMU） information to calculate attitude of the flight.Genetic-Newton algorithm is adopted to improve the accuracy of the alignment calculation, and the autoregressive integrated moving average （ARIMA） model Kalman filter is adopted to reduce the noise of GNSS and accelerometer outputs. The alignment method is verified by calculation with actual measurements. The results show the effectiveness of the proposed method. The alignment accuracy proves that this study can be valuable for engineering application.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2009年第12期2395-2400,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家"863"计划(2006AA12A108)
