基于预测滤波的捷联惯导任意双位置对准方法

宫晓琳; 房建成

基于预测滤波的捷联惯导任意双位置对准方法

北京航空航天大学仪器科学与光电工程学院, 北京 100083

基金项目: 国家863基金资助项目(2006AA12A108); 国家自然科学基金资助项目(60602047)

详细信息

作者简介:
宫晓琳(1980-),女,新疆昌吉人,博士生,gongxiaolin@sina.com.

中图分类号: V 249.32⁺2
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- 被引次数: 0
出版历程
- 收稿日期: 2007-05-11
- 网络出版日期: 2008-05-31

Method of any two-position alignment based on predictive filter for SINS

School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 针对捷联惯性导航系统(SINS,Strapdown Inertial Navigation System)在大失准角情况下的初始对准问题,建立基于加性四元数误差模型的非线性滤波方程,并提出一种基于模型预测滤波(MPF, Model Predictive Filter)与扩展卡尔曼滤波(EKF, Extended Kalman Filter)相结合的地面任意双位置初始对准方法.该方法将部分惯性器件误差作为模型误差,在线实时估计并修正系统模型,提高了状态估计的精度,并克服了将模型误差假设为高斯白噪声的局限性.半物理仿真结果表明,该方法有效提高了SINS姿态误差角的估计精度,而且也降低了系统状态变量的维数,提高了对准解算的实时性.
- 惯性导航系统 /
- 对准 /
- 预测 /
- 非线性滤波
Abstract: Aiming at the initial alignment of strapdown inertial navigation system(SINS) with a large azimuth misalignment angle, the nonlinear mathematics model based on additive quaternion error(AQE) equations was established. And any two-position alignment method based on model predictive filter(MPF) and extended Kalman filter(EKF) was proposed. In this method, parts of inertial element errors were regarded as the model error, and estimated as part of the solution. The model error was not limited to Gaussian noise characteristics, and the algorithm could be implemented on-line to both filter noisy measurements and estimate state trajectories. The results of tests show that this method has better precision and faster convergence of all misalignment angles especially the azimuth one than that of EKF. Furthermore, this method improves the alignment-s real time by reducing the number of states.
- inertial navigation systems /
- alignment /
- prediction /
- nonlinear filtering

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参考文献(1)

[1] Liu B Q, Fang J C. Double any-position alignment without rotatable device for SINS Fang J C, Wang Z Y. Sixth International Symposium on Instrumentation and Control Technology (Vol 6357, part two of two parts). Washington: SPIE-The International Society for Optical Engineering, 2006: 63575H1-63575H5 [2] 胡士强, 敬忠良. 粒子滤波算法综述[J]. 控制与决策, 2005, 20(4): 362-367 Hu Shiqiang, Jing Zhongliang. Overview of particle filter algorithm[J]. Control and Decision, 2005, 20(4): 362-367(in Chinese) [3] 杨静, 张洪钺, 李骥. 预测滤波理论在惯导非线性对准中的应用[J]. 中国惯性技术学报, 2003, 11(6): 44-52 Yang Jing, Zhang Hongyue, Li Ji. INS nonlinear alignment with large azimuth misalignment angle using predictive filter[J]. Journal of Chinese Inertial Technology, 2003, 11(6): 44-52(in Chinese) [4] 房建成, 祝世平, 俞文伯. 一种新的惯导系统静基座快速初始对准方法[J]. 北京航空航天大学学报, 1999, 25(6): 729-732 Fang Jiancheng, Zhu Shiping, Yu Wenbo. Fast initial alignment method of inertial navigation system on stationary base[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(6): 729-732(in Chinese) [5] Chung D, Lee J G, Park C G, et al. Strapdown INS error model for multiposition alignment[J]. IEEE Transactions on Aerospace and Electronic Systems, 1996, 32(4): 1362-1366 [6] 于家成, 陈家斌, 徐学强, 等. 捷联惯导系统多位置可观性分析[J]. 北京理工大学学报, 2004, 24(2): 150-155 Yu Jiacheng, Chen Jiabin, Xu Xueqiang, et al. Multiposition observability analysis of strapdown inertial navigation system[J]. Transactions of Beijing Institute of Technology, 2004, 24(2): 150-155(in Chinese) [7] Crassidis J L, Markley F L. Predictive filtering for nonlinear systems [J]. Journal of Guidance Control and Dynamics, 1997, 20(3): 566-572 [8] 林玉荣, 邓正隆. 一类非线性预测滤波器的鲁棒稳定性分析[J]. 电机与控制学报, 2006, 10(1): 97-101 Lin Yurong, Deng Zhenglong. Both robustness and stability analysis of the nonlinear predictive filter[J]. Electric Machines and Control, 2006, 10(1): 97-101(in Chinese) [9] Jongrae K, John L C. Linear stability analysis of model error control synthesis . AIAA-2000-3963, 2000:1-9 [10] Yu M J, Park H W, Jeon C B. Equivalent nonlinear error models of strapdown inertial navigation systems . AIAA-97-3563, 1997:581-587

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