| 引用本文: | 谭红力,黄新生,岳冬雪.捷联惯导大失准角误差模型在快速传递对准中的应用.[J].国防科技大学学报,2008,30(6):19-23.[点击复制] |
| TAN Hongli,HUANG Xinsheng,YUE Dongxue.Rapid Transfer Alignment Based on Large Misalignment SINS Error Model[J].Journal of National University of Defense Technology,2008,30(6):19-23[点击复制] |
|
| |
|
|
| 本文已被：浏览 7230次 下载 6141次 |
| 捷联惯导大失准角误差模型在快速传递对准中的应用 |
| 谭红力, 黄新生, 岳冬雪 |
|
(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
|
| 摘要: |
| 针对快速传递对准中主子惯导相对姿态存在大角度的情况，推导了捷联惯导大失准角误差模型。该模型采用欧拉角表示姿态误差，并用欧拉运动方程准确描述其传播规律。鉴于该模型中的姿态观测方程是复杂的非线性函数，采用无需求导的UKF算法，并采用奇异值分解(SVD)解决方差阵的病态问题。仿真结果表明，该算法在小角度误差条件下滤波精度优于线性模型，并且适用于大角度误差条件。 |
| 关键词: 快速传递对准 捷联惯导系统 欧拉运动方程 UKF滤波 奇异值分解 |
| DOI： |
| 投稿日期：2008-05-15 |
| 基金项目:国家部委资助项目 |
|
| Rapid Transfer Alignment Based on Large Misalignment SINS Error Model |
| TAN Hongli, HUANG Xinsheng, YUE Dongxue |
|
(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
|
| Abstract: |
| A large misalignment error model of strapdown inertial navigation system(SINS) was deduced for the large relative attitude of rapid transfer alignment existing between the master and slave SINS. The Euler angles were introduced to describe the attitude errors. The Euler's kinematics equations were applied to achieve the accuracy error model. The unscented Kalman filter (UKF) was applied to avoid the derivation calculus of the attitude measurement equations which were complex nonlinear functions. The singular value decomposition (SVD) was used to solve the ill-conditioned problem of covariance matrix. The simulation experiment results show that the alignment accuracy is improved both in small angle uncertainties, and large angle uncertainties. |
| Keywords: rapid transfer alignment strapdown inertial navigation system Euler's kinematics equations unscented Kalman filter singular value decomposition |
|
|
