摘要
针对舰船中低精度惯性导航设备参数标定维护费用高、过程周期长等问题,采用测姿型DGPS作为测定误差的基准平台搭建导航设备性能测试系统,利用组合导航方式获取的高精度导航参数对惯导设备性能进行评估。为此,利用Q-R分解中上三角矩阵求逆计算的快速性和稳定性特点,建立基于Q-R矩阵分解的区间平滑滤波器,取代滤波误差方差阵P阵的计算为R阵的迭代,避免P阵在计算过程中失去正定性和对称性导致滤波发散。仿真分析结果表明:结合导航设备性能测试系统的Q-R分解区间平滑算法能有效提高系统位置、速度、姿态等数据的估计精度和数据平滑度,可以作为一种中低精度惯导参数性能事后评估方法。
To solve the problems of high maintenance cost and long processing time in ship＇s INS parameter calibration, an error testing datum platform based on DGPS with attitude correction is established for navigation equipment performance test system. The Kalman filtering equations and the fixed-interval smoothing equations based on Q-R decomposition are presented for obtaining high-accuracy data and high stability parameter. The error variance matrix is replaced by the R matrix in the Q-R decomposition. Therefore the problem of divergence due to matrix non-positive and non-symmetrical characteristic is avoided. The simulation results indicate that the algorithm could effectively improve the estimation accuracy and data smoothness of position, speed and attitude of the integrated navigation system and it is an effective assistant post processing and analytical method for the working performance of ship navigation equipment.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第5期633-638,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金项目(40904018)
关键词
卡尔曼滤波
固定区间半滑
Q-R矩阵分解
事后评估
Kalman filtering
fixed-interval smoothing
Q-R matrix decomposition
post-assessment
