文档介绍：适用于低精度惯导的非线性对准方法研究
夏家和,秦永元,赵长山
(西北工业大学自动化学院西安 710072)
摘要:给出了一种适用于低精度惯导的非线性对准模型。用乘性四元数形式定义捷联惯导的姿态误差,推导了捷联惯导的非线性速度误差方程和姿态误差方程。基于速度量测信息,给出了大失准角条件下的非线性对准模型,通过UKF算法估计失准角完成精对准。仿真结果表明, °/h的情况下,在360 °,°的精度(1σ)。即使当方位误差达到90°,非线性模型仍能正常收敛。最后通过转台摇摆试验进一步验证了非线性模型的有效性。
关键词:捷联惯导;对准;UKF;非线性误差模型
中图分类号: 文献标识码:A 国家标准学科分类代码:
Study on nonlinear alignment method for low precision INS
Xia Jiahe, Qin Yongyuan, Zhao Changshan
(School of Automation, Northwestern Polytechnical University, Xi’an 710072, China)
Abstract:A nonlinear error model based alignment method for low precision strapdown inertial navigation system is studied. The quaternion is employed to describe the attitude error. The nonlinear velocity error model and attitude error model are deduced. Based on the velocity measurements, a nonlinear alignment model under large attitude error is made. After that the UKF is employed to estimate the misalignment. Simulation results show that the level attitude error quickly decreases to ° and the heading error decreases to °(1σ)in 360 s alignment time. Even when the heading error reaches 90°, the nonlinear alignment model still can converge normally. Finally, the nonlinear alignment model is validated by turntable tests.
Key words:strapdown inertial navigation; alignment; UKF; nonlinear error model
1 引言
收稿日期:2008-12 Received Date:2008-12
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