摘要
为了满足无人飞行器自主导航需求,提出了一种偏振光及红外传感器辅助惯导定姿方法。该方法选取了姿态四元数和陀螺误差模型构建滤波状态向量,采用偏振光传感器、红外传感器测量的三维姿态角作为量测向量建立卡尔曼滤波模型;融合后的最优姿态四元数转换为姿态矩阵反馈至惯性导航系统中,修正位置、姿态信息的解算。在分析了捷联惯导力学编排的基础上,参考常见的惯导系统参数进行了动态仿真。结果表明:偏振光、红外传感器可以有效地修正惯导姿态误差,修正后输出精度与偏振光、红外传感器输出精度相当,分别保持在±0.2°和±1°。提出的新型辅助定姿方法为提高惯导系统精度提供了一种新思路,具有广阔的应用前景。
A novel attitude determination method by using an INS aided by a polarized sensor and infrared sensors was proposed for UAV autonomous navigation. In this method, the Kalman filter＇s state vectors were constructed by the attitude quaternion and the gyroscope＇s error model, and the Kalman filter model was established by using the measurement vectors from the polarized light sensor and infrared sensors. The attitude matrix converted from the fused optimal attitude quaternion was fed back to the INS to update the position and attitude calculation processes. Based on the analysis of INS mechanical arrange, a dynamic simulation was designed by referring to the parameters of common SINS. The simulation results indicate that the system＇s attitude errors can be effectively corrected by the information from polarized-light and infrared sensors, and the attitude precisions after corrections are maintained at ± 0.2° and ± 1°, respectively, which are equivalent to those of the polarized-light and infrared sensors. This novel method provides a new idea for the improvement of the INS accuracy, and promises a wide application prospect.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2015年第4期528-532,共5页
Journal of Chinese Inertial Technology
基金
国家973重点基础研究发展计划资助项目(2011CB302101
2011CB302105)
国家自然科学基金资助项目(51305057)
关键词
偏振光
红外传感器
四元数
卡尔曼滤波
捷联惯导系统
polarized light
infrared sensor
quaternion
Kalman filter
strapdown inertial navigation system
