摘要
当捷联惯导系统失准角误差模型为大角度时,需要采用非线性滤波方法。本文研究了基于大方位失准角的初始对准技术。首先,建立SINS/GPS非线性误差模型;针对观测粗差和噪声统计特性不准确对系统的影响,提出并推导了自适应抗差CKF滤波算法;最后,通过仿真分析和对比试验验证,该算法能增强滤波的稳定性,进而提高估计精度,缩短收敛时间。
When a large angle exists in strapdown inertial navigation system misalignment angle error model, a nonlinear filtering method is required. Initial alignment technology based on large azimuth misalignment is researched in this paper. First, SINS/GPS nonlinear error model is established. In the view of observation gross errors and inaccurate noise statistical characteristics, adaptive robust CKF algorithm is proposed. Finally, according to simulation analysis and experiment, adaptive robust CKF algorithm can augment the stability, improve filter estimation accuracy and convergence rate.
作者
牟宏伟
韩磊
李昂阳
MU Hong-wei;HAN Lei;LI Ang-yang(China Academy of Launch Vehicle Technology,Beijing 100076 China;Capital Aerospace Machinery Corporation Limited,Beijing 100076 China)
出处
《自动化技术与应用》
2022年第6期6-9,81,共5页
Techniques of Automation and Applications
