摘要
为提高静基座初始对准精度,缩短对准时间,采用了基于大方位失准角的对准模型,引入了高斯-厄米特滤波器(GHF)。针对GHF中均值和协方差阵的多元非线性高斯积分求解问题,利用初始对准误差方程的非线性是由大方位失准角导致的特点,通过状态的线性变换,求其线性状态解析解,将高维积分转化成一元数值积分,在不损失精度的前提下,解决了GHF在对准应用的"维数灾难"问题。将此算法用于实际系统,对比于扩展卡尔曼滤波器(EKF)、无迹卡尔曼滤波器(UKF),结果表明在大方位失准角条件下,GHF方法偏航角的对准精度提高了16%,对准时间缩短了75%。
In this paper investigate the alignment problem of a stationary based strapdown inertial navigation system.In order to improve the aligning accuracy and shorten the aligning time,a Gauss-Hermite filter（GHF） is adopted in the alignment model based on large azimuth misalignment angles.The nonlinear Gauss integration of multi-variables to the mean and covariance computation in the GHF is addressed.Since large azimuth misalignment angles will introduce the nonlinearity in the alignment error equations,this paper employs linear state transformation approach to obtain the analytic solution of the linear state vector in the underlying equations.The integration of multi-variables is thus converted to the integration of a single-variable.Hence the so called ＂dimension problem＂ in the application of GHF to alignment is solved without loss of accuracy.The proposed method is applied to a SINS,and it shows that the aligning accuracy of path angle is improved by 16% and the aligning time is reduced by 75% compared with extended Kalman filter（EKF） and unscented Kalman filter（UKF）.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2012年第3期554-560,共7页
Acta Aeronautica et Astronautica Sinica
基金
部级项目~~
关键词
初始对准
高斯-厄米特滤波器
捷联惯导系统
大方位失准角
扩展卡尔曼滤波器
无迹卡尔曼滤波器
initial alignment
Gauss-Hermite filter
strapdown inertial navigation system
large azimuth misalignment angle
extended Kalman filters
unscented Kalman filters
