摘要
针对目前基于惯性系的捷联惯导动基座对准方法信息利用率不高及矢量观测选取不确定性导致对准精度下降的问题,提出了一种新的舰载捷联惯导动基座滤波四元数估计(filter quaternion estimation,FQUEST)对准方法。构建了捷联惯导动基座初始对准模型,并利用姿态矩阵链式法则将惯导初始对准转化为姿态确定问题,进而采用F-QUEST算法求取姿态矩阵以实现捷联惯导动基座对准。车载试验结果表明:相比传统方法,新方法具有更高的对准精度和更快的收敛速度,水平姿态角误差只需3s即可收敛到0.01°。
Aiming at the problems of low information availability and the decline of alignment accuracy due to an uncertain selection of vector observations as far as the strapdown inertial navigation system （SINS） in-movement alignment method based on the inertial frames, this paper proposes a new shipborne SINS in-movement filter quaternion estimation （F-QUEST） alignment algorithm and offeres an in-movement initial alignment model of SINS. The chain rule of the attitude matrix is used to lead the initial alignment of SINS to the attitude determination. Then the F-QUEST algorithm is used to calculate the attitude matrix so as to acquire the in-movement alignment of SINS. The vehicle test results show that the proposed method is of higher alignment accuracy and faster convergence than the tradi- tional method, especially with the horizontal posture angle error being able to converge to 0.01°in 3 s.
出处
《海军工程大学学报》
CAS
北大核心
2014年第6期32-36,共5页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(61304241
61374206)
国家重大科学仪器开发专项基金资助项目(2011yq12004502)
关键词
捷联惯导
动基座
初始对准
姿态确定
F-QUEST
strapdown inertial navigation system （SINS）
in-movement
initial alignment
attitude determination
F-QUEST
