摘要
在研究捷联惯导系统进行初始对准的过程中,由于观测信息不全面以及实际导航中系统噪声统计特性未知,造成初始对准方位失准角对准精度低、对准时间长等问题。为了解决上述问题,基于捷联惯导误差模型,通过分析姿态误差与失准角之间的关系,提出了一种将航向角误差扩展为观测量的快速精对准方法,详细推导了引入航向误差后建立的新观测方程,并引入简化的Sage-Husa自适应Kalman算法进行递推滤波在线估计量测噪声,仿真表明,提出的快速对准方法,使方位失准角收敛时间约10s左右,对准精度提高到0.22",远远优于常规对准方法,对导航系统性能的优化具有重要的应用参考价值。
Research the initial SINS alignment process. Due to inadequate observation information and unknown statistical characteristics of system noise in actual navigation,the misalignment alignment accuracy of initial alignment azimuth is low,and the alignment time is long. To solve the above problems,a fast initial alignment method based on error model of SINS was proposed under the conditions of stationary base by expanding error of course angle as observations and analyzing the relationship of attitude error and misalignment angle. An observation equation was derived in detail after introducing error of course angle. And a simplified Sage-Husa adaptive Kalman filter algorithm was introduced to recursively estimate the online measurement noises. The simulation results show that the convergence time about misalignment angle is about 10 seconds and the alignment accuracy is raised to 0. 22＂,and it is superior to traditional method and has important application reference value.
出处
《计算机仿真》
CSCD
北大核心
2015年第7期70-74,共5页
Computer Simulation
基金
国家大学生创新创业项目(201410616006)
四川省教育厅重点科研计划项目(14ZA0063)
四川省应用基础研究计划项目(2013JY0165)
