摘要
针对现有惯性系对准算法在无纬度下的使用局限性,即存在由纬度估计误差引起的误差累积现象,提出了一种无纬度下基于阻尼高斯牛顿迭代的优化式初始对准方法。首先构建新型惯性系对准模型,在纬度相关的重力矢量构造过程中,将纬度信息相关项分离出来,以减小纬度估计误差对模型精确性的影响;然后采用重力视运动原理估计纬度值,并采用阻尼高斯牛顿迭代法求解非线性最小二乘问题,以完成常值姿态四元数的求解;最后针对惯性凝固坐标系下重力矢量中的误差源,设计实时小波降噪及自适应卡尔曼滤波(RWD-AKF)算法对其进行优化重构,以进一步提升纬度估计精度及对准精度。摇摆仿真实验结果表明:相比现有的无纬度对准方法TVA,提出的无纬度下的对准方法的航向对准精度提高了30%以上,接近传统的OBA对准精度,可有效实现捷联惯导系统在无纬度下的对准,提高捷联惯导系统工作的灵活性及广泛性。
In view of the limitations of the use of existing inertial frame alignment algorithms without latitude,there is an error accumulation phenomenon caused by the latitude estimation error.An optimized initial alignment method based on damped Gauss-Newton iteration without latitude is proposed in this paper.First of all,a new inertial frame alignment model is constructed,during the constructing process of latitude-related gravity vector,separating the latitude information-related items,to reduce the effect of the latitude estimation error on the accuracy of the model.And then the gravity visual motion principle is adopted to estimate latitude,and the damped Gauss-Newton iteration is adopted to solve non-linear least square question,which can solve constant attitude quaternion.Finally,for the error source in the gravity vector under the inertial solidification coordinate frame,real-time wavelet noise reduction and adaptive Kalman filter(RWD-AKF)algorithm are designed to optimize and reconstruct it,to further improve the latitude estimation accuracy and alignment accuracy.Sway simulation trial proves:compared with existing latitude-free alignment method(TVA),the proposed alignment method without latitude results in a heading alignment accuracy improvement of more than 30%,close to the conventional OBA alignment accuracy.The proposed alignment method can effectively realize the alignment of the SINS without latitude,to improve the flexibility and universality of SINS.
作者
张敬艳
张倩璇
国运鹏
ZHANG Jing-yan;ZHANG Qian-xuan;GUO Yun-peng(The Department of Naval Equipment of PLA,Beijing 100036,China;China Ship Development and Design Center,Wuhan 430064,China;Huazhong Institute of Electro-Optics—Wuhan National Laboratory for Optoelectronics,Wuhan 430223,China)
出处
《光学与光电技术》
2025年第4期105-115,共11页
Optics & Optoelectronic Technology
关键词
惯性导航
纬度估计
阻尼高斯牛顿迭代
自适应卡尔曼滤波
inertial navigation
latitude estimation
damped Gauss-Newton iteration
adaptive Kalman filter
