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论文:2022,Vol:40,Issue(1):103-109 |
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引用本文： |
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李璞, 杨涛, 牟宏伟. 一种基于自适应抗差CKF算法的改进初始对准方法[J]. 西北工业大学学报 |
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LI Pu, YANG Tao, MU Hongwei. An improved initial alignment method based on adaptive robust CKF algorithm[J]. Northwestern polytechnical university |
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| 一种基于自适应抗差CKF算法的改进初始对准方法 |
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| 李璞1,2, 杨涛1, 牟宏伟2 |
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1. 国防科技大学, 湖南 长沙 410073;
2. 中国运载火箭技术研究院, 北京 100076 |
| 摘要: |
| 捷联惯导初始对准过程中存在大方位失准角的情况，需要通过建立非线性误差模型来对误差进行估计，因此对相应初始对准技术进行了研究。通过分析，构建捷联惯性导航系统和全球定位系统的精准非线性误差模型；基于自适应抗差理论对容积卡尔曼滤波（CKF）算法对随机干扰的统计特性以及观测粗差计算模型进行改进；设计相应的仿真评估测试和实物验证方法，试验结果证明提出的方法在初始对准中具有更强的滤波稳定性、更高的滤波估计精度和更短的算法收敛时间。 |
| 关键词:
大方位失准角
初始对准
非线性误差模型
自适应抗差CKF
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| An improved initial alignment method based on adaptive robust CKF algorithm |
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| LI Pu1,2, YANG Tao1, MU Hongwei2 |
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1. National University of Defense Technology, Changsha 410073, China;
2. China Academy of Launch Vehicle Technology, Beijing 100076, China |
| Abstract: |
| When the misalignment angle is a large angle in the strapdown inertial navigation system (SINS), it is necessary to establish a nonlinear error model to estimate the error. Hence, an improved initial alignment method based on adaptive robust CKF algorithm is proposed in this paper. Firstly, based on the analysis results, SINS/GPS nonlinear error model is established. Secondly, in the view of observation gross errors and inaccurate noise statistical characteristics, adaptive robust CKF algorithm is designed. Finally, according to simulation analysis and experiment, adaptive robust CKF algorithm can augment the stability, improve filter estimation accuracy and convergence rate, which significantly improves the initial alignment ability of strapdown inertial navigation system at large azimuth misalignment angle. |
| Key words:
large azimuth misalignment
integrated alignment
nonlinear error model
adaptive robust CKF
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| 收稿日期: 2021-04-20
修回日期:
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| DOI: 10.1051/jnwpu/20224010103 |
| 通讯作者:
Email： |
| 作者简介: 李璞(1982—),国防科技大学博士研究生,主要从事飞行器总体设计和惯导初始对准系统研究。e-mail:lipu_306@163.com
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| 相关功能 |
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| 作者相关文章 |
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| 李璞 在本刊中的所有文章 |
| 杨涛 在本刊中的所有文章 |
| 牟宏伟 在本刊中的所有文章 |
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