非线性滤波在捷联惯导系统初始对准中的应用
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(1.海军航空工程学院控制工程系,山东 烟台 264001;2.海军航空工程学院研究生管理大队,山东 烟台 264001)

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U666.12

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Application of Non-Linear Filter in INS Alignment
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(1.Naval Aeronautical and Astronautical University a. Naval Aeronautical and Astronautical University Department of Control Engineering,Yantai Shandong 264001,China;2. Naval Aeronautical and Astronautical University Graduate Students’ Brigade,Yantai Shandong 264001,China)

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    摘要:

    惯性导航系统(INS)初始对准的误差方程在本质上是非线性的,估计惯性导航初始对准误差普遍采用的做法是把失准角假设为小角度,再将误差模型线性化。但当运载体遭遇恶劣环境姿态变化剧烈时,用于估计小失准角的误差模型将不再满足初始对准的要求。为满足大失准角下惯导系统的初始对准,在建立大失准角下的非线性误差模型基础上,分别应用2种非线性滤波方法(UKF与UPF)进行仿真,分析、比较了它们的滤波性能。

    Abstract:

    The error equation of the alignment of inertial navigation systems (INS) is nonlinear essentially, what we always do in estimating of error of initial alignment is assume the misalignment as small angle and then linearize the error model. However, when the carrier meets bad surroundings, the posture changed violently, the error model used in estimating little angle would not satisfied. In order to correspond initial alignment of large misalignment, the nonlinear error model was built at first, and then two different nonlinear filter methods were used (UKF and UPF) to simulate, analyze and compare their filter function.

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戴邵武,郑智翔,戴洪德,曹亮杰.非线性滤波在捷联惯导系统初始对准中的应用[J].海军航空大学学报,2011,26(1):67-70, 74
DAI Shao-wu, ZHENG Zhi-xiang, DAI Hong-de, CAO Liang-jie. Application of Non-Linear Filter in INS Alignment[J]. JOURNAL OF NAVAL AVIATION UNIVERSITY,2011,26(1):67-70, 74

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  • 在线发布日期: 2018-07-05
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