留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

大方位失准角MIMU空中对准建模及半物理仿真

曹娟娟 房建成 盛蔚

曹娟娟, 房建成, 盛蔚等 . 大方位失准角MIMU空中对准建模及半物理仿真[J]. 北京航空航天大学学报, 2008, 34(01): 63-66.
引用本文: 曹娟娟, 房建成, 盛蔚等 . 大方位失准角MIMU空中对准建模及半物理仿真[J]. 北京航空航天大学学报, 2008, 34(01): 63-66.
Cao Juanjuan, Fang Jiancheng, Sheng Weiet al. Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(01): 63-66. (in Chinese)
Citation: Cao Juanjuan, Fang Jiancheng, Sheng Weiet al. Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(01): 63-66. (in Chinese)

大方位失准角MIMU空中对准建模及半物理仿真

基金项目: 国防基础科研资助项目(D2120060013); 新世纪人才资助项目(NCET-04-0162)
详细信息
    作者简介:

    曹娟娟(1978-),女,湖北随州人,博士生,caojuanjuan@aspe.buaa.edu.cn.

  • 中图分类号: V 249.32

Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error

  • 摘要: 由于快速性的要求,微小型无人机不经过地面精确初始对准就升空作业,因此MIMU(Micro Inertial Measurement Unit)空中对准在大失准角下进行. 为了提高微小型无人机空中的反应速度和作业精度,把非线性误差部分作为状态变量,建立MIMU在大方位失准角下无需小角度近似的空中对准的线性模型,同时为解决噪声不确定导致滤波器发散的问题,提出将AKF (Adaptive Kalman Filter)应用在GPS(Global Positioning System)辅助MIMU的空中对准中,半物理仿真结果证实其取得了比基于非线性误差模型的EKF(Extended Kalman Filter)精度高且速度快的结果,不仅使MIMU的方位失准角由60° 快速下降到2° 左右,且所需时间仅为EKF的67%.

     

  • [1] Dmitriyev S P, Stepanov O A. Nonlinear filtering methods application in INS alignment[J]. IEEE Transaction on Aerospace and Electronic Systems, 1997,33(1): 260-271 [2] 周战馨,高亚楠,陈家斌.基于无轨迹卡尔曼滤波的大失准角INS初始对准[J].系统仿真学报, 2006,18(1):173-175 Zhou Zhanxin, Gao Yanan, Chen Jiabin. Application of unscented Kalman filter for large misalignment errors in INS alignment[J]. Journal of System Simulation, 2006,18(1):173-175(in Chinese) [3] 丁杨斌,王新龙,王缜,等. Unscented卡尔曼滤波在SINS静基座大方位失准角初始对准中的应用研究[J].宇航学报, 2006, 27(6): 1201-1204 Ding Yangbin, Wang Xinlong, Wang Zhen, et al. Study on unscented Kalman filter applied in initial alignment of large azimuth misalignment on static base of SINS[J]. Journal of Astronautics, 2006, 27(6):1201-1204(in Chinese) [4] Yu M J, Lee J G, Park H W. Comparison of SDINS in-flight alignment using equivalent error models[J]. IEEE Transaction on Aerospace and Electronic Systems, 1999, 35(3):1046-1054 [5] Wei Chunling, Zhang Hongyue. SINS in-flight alignment using quaternion error models[J]. Chinese Journal of Aeronautics, 2001,14(3):166-170 [6] Hong H S, Lee J G,Park C G. Performance improvement of in-flight alignment for autonomous vehicle under large initial heading error[J]. IEE Proc-Radar Sonar Navig, 2004,151(1): 57-62 [7] Abdel-Hamid W,Noureldin A,El-Sheimy N. Adaptive fuzzy prediction of low-cost inertial-based positioning errors[J]. IEEE Transactions on Fuzzy Systems,2007,15(3): 519-529 [8] Sasiadek J Z,Wang Q, Zeremba M B. Fuzzy adaptive Kalman filtering for INS/GPS data fusion IEEE Proceedings of the 15th IEEE International Symposium on Intelligent Control.Greece: IEEE, 2000: 181-186
  • 加载中
计量
  • 文章访问数:  3142
  • HTML全文浏览量:  208
  • PDF下载量:  1038
  • 被引次数: 0
出版历程
  • 收稿日期:  2007-01-30
  • 网络出版日期:  2008-01-31

目录

    /

    返回文章
    返回
    常见问答