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�������պ����ѧѧ�� 2008, Vol. 34 Issue (01) :63-66    DOI:
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Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error
Cao Juanjuan, Fang Jiancheng, Sheng Wei*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ ���ڿ����Ե�Ҫ��,΢С�����˻����������澫ȷ��ʼ��׼��������ҵ,���MIMU(Micro Inertial Measurement Unit)���ж�׼�ڴ�ʧ׼���½���. Ϊ�����΢С�����˻����еķ�Ӧ�ٶȺ���ҵ����,�ѷ�����������Ϊ״̬����,����MIMU�ڴ�λʧ׼��������С�ǶȽ��ƵĿ��ж�׼������ģ��,ͬʱΪ���������ȷ�������˲�����ɢ������,�����AKF (Adaptive Kalman Filter)Ӧ����GPS(Global Positioning System)����MIMU�Ŀ��ж�׼��,�����������֤ʵ��ȡ���˱Ȼ��ڷ��������ģ�͵�EKF(Extended Kalman Filter)���ȸ����ٶȿ�Ľ��,����ʹMIMU�ķ�λʧ׼����60° �����½���2° ����,������ʱ���ΪEKF��67%.
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Abstract�� The micro inertial measurement unit (MIMU) in micro unpiloted aerial vehicles initial alignment time is short, so in-flight alignment for MIMU is worked under large heading error with the global positioning system (GPS) assistant. Aimed at the requirement of high estimation precision and real time,a linear model with large heading error is introduced by regarding nonlinear vector as state vector, and adaptive Kalman filter (AKF) base on this linear model is used for MIMU in-flight alignment. The semi-physical simulation results show that this method has better precision than extended Kalman filter (EKF) with nonlinear model, and the heading error descends very quickly from 60° to around 2°. Furthermore, AKF need less computation time than EKF, only 67% of EKF.
Keywords�� micro inertial measurement unit(MIMU)   global positioning system(GPS)   in-flight alignment   adaptive Kalman filter(AKF)     
Received 2007-01-30;

������������������Ŀ(D2120060013); �������˲�������Ŀ(NCET-04-0162)

About author: �ܾ��(1978-),Ů,����������,��ʿ��,caojuanjuan@aspe.buaa.edu.cn.
�ܾ��,������,ʢε.��λʧ׼��MIMU���ж�׼��ģ�����������[J]  �������պ����ѧѧ��, 2008,V34(01): 63-66
Cao Juanjuan, Fang Jiancheng, Sheng Wei.Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(01): 63-66
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