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基于最小二乘拟合法的分布式POS全局估计方法

叶文 刘艳红 王博 蔡晨光 李建利

叶文, 刘艳红, 王博, 等 . 基于最小二乘拟合法的分布式POS全局估计方法[J]. 北京航空航天大学学报, 2020, 46(5): 862-869. doi: 10.13700/j.bh.1001-5965.2019.0345
引用本文: 叶文, 刘艳红, 王博, 等 . 基于最小二乘拟合法的分布式POS全局估计方法[J]. 北京航空航天大学学报, 2020, 46(5): 862-869. doi: 10.13700/j.bh.1001-5965.2019.0345
YE Wen, LIU Yanhong, WANG Bo, et al. Global estimation method based on least square fitting for distributed POS[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 862-869. doi: 10.13700/j.bh.1001-5965.2019.0345(in Chinese)
Citation: YE Wen, LIU Yanhong, WANG Bo, et al. Global estimation method based on least square fitting for distributed POS[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 862-869. doi: 10.13700/j.bh.1001-5965.2019.0345(in Chinese)

基于最小二乘拟合法的分布式POS全局估计方法

doi: 10.13700/j.bh.1001-5965.2019.0345
基金项目: 

国家重点研发计划 2017YFF0205003

国家自然科学基金 61901431

国家自然科学基金 61421063

国家自然科学基金 61722103

国家自然科学基金 61571030

国家自然科学基金 51605461

详细信息
    作者简介:

    叶文  男, 博士, 助理研究员。主要研究方向:惯性技术与组合导航

    刘艳红  女, 博士研究生。主要研究方向:组合导航

    王博  男, 博士研究生。主要研究方向:组合导航

    蔡晨光  男, 博士, 副研究员, 硕士生导师。主要研究方向:振动测试

    李建利  男, 博士, 教授, 博士生导师。主要研究方向:组合导航

    通讯作者:

    叶文, E-mail: liu1253891321@163.com

  • 中图分类号: V243.5

Global estimation method based on least square fitting for distributed POS

Funds: 

National Key R & D Program of China 2017YFF0205003

National Natural Science Foundation of China 61901431

National Natural Science Foundation of China 61421063

National Natural Science Foundation of China 61722103

National Natural Science Foundation of China 61571030

National Natural Science Foundation of China 51605461

More Information
  • 摘要:

    针对无法保证各子阵天线附近均安装高精度子惯性测量单元(IMU)的问题,提出了一种基于最小二乘拟合的分布式位置姿态测量系统(POS)全局估计方法。首先,建立了考虑一维柔性变形角的主/子传递对准误差模型;然后,采用卡尔曼滤波(KF)估计已安装子IMU的子阵天线运动参数;最后,在已获取运动参数的基础上,采用最小二乘拟合估计未安装子IMU的子阵天线运动参数。半物理仿真实验结果表明,所提方法精确实现了阵列天线运动参数的全局估计,且未安装子IMU的子阵天线运动参数估计精度与相邻的子阵天线运动参数估计精度相当。

     

  • 图 1  分布式POS与InSAR联合飞行实验的设备

    Figure 1.  Flight experiment equipment with distributed POS and InSAR

    图 2  阵列天线与IMU在一侧机翼的分布示意图

    Figure 2.  Distribution schematic diagram of array antennas and IMUs on one wing

    图 3  传递对准估计的位置误差

    Figure 3.  Position errors using transfer alignment estimation

    图 4  传递对准估计的速度误差

    Figure 4.  Velocity errors using transfer alignment estimation

    图 5  传递对准估计的姿态误差

    Figure 5.  Attitude errors using transfer alignment estimation

    图 6  最小二乘拟合估计的位置误差

    Figure 6.  Position errors using least square fitting estimation

    图 7  最小二乘拟合估计的速度误差

    Figure 7.  Velocity errors using least square fitting estimation

    图 8  最小二乘拟合估计的姿态误差

    Figure 8.  Attitude errors using least square fitting estimation

    表  1  阵列天线与IMU在载体坐标系下的坐标

    Table  1.   Coordinates of array antennas and IMUs in body coordinate

    子阵天线x轴坐标/m
    No.11
    No.22
    No.33
    No.44
    No.55
    No.66
    No.77
    No.88
    No.99
    No.1010
    No.1111
    No.1212
    下载: 导出CSV

    表  2  传递对准估计的子阵天线运动参数误差统计结果

    Table  2.   Statistical results of sub-antenna motion parameter errors using transfer alignment estimation

    运动参数RMSE
    No.1No.3No.5No.7No.9No.11
    纬度/m0.004 60.009 80.030 40.043 50.053 00.076 6
    经度/m0.016 00.025 00.041 80.056 60.064 70.075 7
    高度/m0.015 20.029 60.032 40.040 30.051 70.069 1
    东向速度/(m·s-1)0.0050.0060.0080.016 20.017 50.022 0
    北向速度/(m·s-1)0.0040.0060.0090.019 10.022 00.025 2
    天向速度/(m·s-1)
    0.003 90.006 90.012 10.018 00.023 50.026 2
    航向角/(°)0.008 00.011 00.013 80.014 30.014 70.025 2
    俯仰角/(°)0.001 50.002 20.002 80.003 50.004 20.004 8
    横滚角/(°)0.001 30.002 60.002 80.003 10.004 40.004 7
    下载: 导出CSV

    表  3  最小二乘拟合估计的子阵天线运动参数误差统计结果

    Table  3.   Statistical results of sub-antenna motion parameter errors using least square fitting estimation

    参数RMSE
    No.2No.4No.6No.8No.10No.12
    纬度/m0.055 10.023 40.038 20.050 10.065 10.081 6
    经度/m0.018 80.038 50.049 60.060 80.071 80.085 6
    高度/m0.019 90.030 70.038 50.047 90.063 70.089 5
    东向速度/(m·s-1)0.004 60.007 20.011 90.017 40.021 70.026 9
    北向速度/(m·s-1)0.005 60.007 70.001 80.020 40.023 70.027 8
    天向速度/(m·s-1)0.005 10.010 40.017 20.020 60.024 40.028 2
    航向角/(°)0.009 00.013 30.014 00.016 00.023 30.028 6
    俯仰角/(°)0.001 90.002 40.003 30.004 00.004 40.004 8
    横滚角/(°)0.002 10.002 50.003 10.004 30.004 60.004 9
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-06-28
  • 录用日期:  2019-09-20
  • 网络出版日期:  2020-05-20

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