基于CKF的SINS大方位失准角初始对准.pdfVIP

学兔兔 第33卷 第2期 仪 器 仪 表 学 报 V0l_33 No．2 2012年2月 Chinese Journal of Scientific Instrument Feb．2012 基于CKF的SINS大方位失准角初始对准术 孙 枫，唐李军 (哈尔滨工程大学自动化学院 哈尔滨 150001) 摘 要：大方位失准角捷联惯导系统(strapdown inertial narigation system，SINS)误差方程是非线性的，为改善非线性模型下初始 对准的精度，提出将一种新的非线性滤波方法(cubature Kalman filter，CKF)应用于捷联惯导系统初始对准中。为此建立了大方位 失准角下初始对准非线性模型，分析了基于spherical—radial cubature准则的CKF滤波原理，对非线性模型进行了CKF滤波仿 真。仿真结果表明CKF能够很好地处理初始对准中的非线性问题，提高初始对准精度，方位失准角误差能够收敛到一33．13 ， 接近理论估计精度一32．40 ，优于EKF的一84．14 。 关键词：捷联惯导系统；初始对准；大方位失准角；cubature卡尔曼滤波 中图分类号：U666．12 文献标识码：A 国家标准学科分类代码：590．35 Initial alignment of large azimuth misalignment angle in SINS based on CKF Sun Feng，Tang Lijun (Automation College，Harbin Engineering University，Harbin 150001，China) Abstract：The error equation of large azimuth misalignment angle in SINS is nonlinear．To improve the accuracy of the initial alignment in nonlinear modell，a new nonlinear filtering method named cubature Kalman filter(CKF)is applied in the initial alignment of SINS．Therefore，an initial alignment nonlinear model under large azimuth mis— alignment angle is established，and the CKF filter theory based on the spherical—radial cubature criteria is analyzed； then the nonlinear model is simulated with CKF．Simulation results show that the CKF can nicely deal with the non— linear problems in initial alignment and improve the precision of initial alignment；and the azimuth misalignment an- gle error can converge to一33．1 3 ．which is close to the theoretical estimation precision一32．40 and is better than the一84．14 0f EKF． Key words：SINS；initial alignment；large azimuth misalignment angle；cubature Kalman filter