捷联惯导系统中卡尔曼滤波的应用研究
|
摘要
为提高捷联惯导系统初始对准精度,提出将卡尔曼滤波技术应用于系统初始精对准,用以估计系统的失准角和惯性误差;对卡尔曼滤波技术在捷联惯导系统中的应用进行分析,建立捷联惯导系统初始对准误差模型和卡尔曼滤波量测方程;分析不同条件下不同滤波方法的滤波原理和滤波精度;在此基础上,提出一种将预测扩展卡尔曼滤波应用于逆向导航技术的思路,并进行了理论分析和捷联惯导系统自对准流程设计,为后续进一步深入开展惯导系统初始对准奠定基础。
In order to improve the initial alignment accuracy of Strapdown Inertial Navigation System,research on the Kalman filter which is applied to the initial fine alignment of the system has been proposed to estimate the misalignment angle and inertial error of the system.The application of Kalman filter in Strapdown Inertial Navigation System is analyzed and the initial alignment error model and the Kalman filter measurement equation of strapdown Inertial Navigation System are established.The filtering principle and filtering precision of different filtering methods under different conditions are analyzed.Based on this,a new idea of predictive extended Kalman filter to reverse navigation is proposed,and the theoretical analysis and Strapdown Inertial Navigation System self-alignment process design are carried out.And agood foundation of further reseaech of Initial alignment of inertial navigation system has been laid.
In order to improve the initial alignment accuracy of Strapdown Inertial Navigation System,research on the Kalman filter which is applied to the initial fine alignment of the system has been proposed to estimate the misalignment angle and inertial error of the system.The application of Kalman filter in Strapdown Inertial Navigation System is analyzed and the initial alignment error model and the Kalman filter measurement equation of strapdown Inertial Navigation System are established.The filtering principle and filtering precision of different filtering methods under different conditions are analyzed.Based on this,a new idea of predictive extended Kalman filter to reverse navigation is proposed,and the theoretical analysis and Strapdown Inertial Navigation System self-alignment process design are carried out.And agood foundation of further reseaech of Initial alignment of inertial navigation system has been laid.
引文
[1]王新龙.捷联式惯导系统动、静基座初始对准[M].西安:西北工业大学出版社,2013.
[2]付梦印,邓志红,张继伟.滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[3]侯青剑,缪栋,彭云辉.卡尔曼滤波在激光陀螺信号中的应用[J].计算机测量与控制,2005,13(11):1287-1288.
[4]沈丽云.捷联惯导系统自对准关键技术研究[D].哈尔滨:哈尔滨工业大学,2014.
[5]秦永元,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2015.
[6]宫晓琳.机载对地观测成像用SINS/GPS组合滤波方法及试验研究[D].北京:北京航空航天大学,2009.
[7]梁禄杨.基于逆向导航的捷联自对准技术研究[J].航天控制,2015,33[5]:8-11.
[8]李京书,许江宁,何泓洋,等.严格逆向过程的罗经回溯对准方法[J].系统工程与电子技术,2014,36(2):348-353.
[9]Gao W,Ben Y Y,Zhang X,et al.Rapid fine strapdown INS alignment method under marine mooring condition[J].IEEE Trans.on Aerospace and Electronic Systems,2011,47(4):2887-2896.
[2]付梦印,邓志红,张继伟.滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[3]侯青剑,缪栋,彭云辉.卡尔曼滤波在激光陀螺信号中的应用[J].计算机测量与控制,2005,13(11):1287-1288.
[4]沈丽云.捷联惯导系统自对准关键技术研究[D].哈尔滨:哈尔滨工业大学,2014.
[5]秦永元,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2015.
[6]宫晓琳.机载对地观测成像用SINS/GPS组合滤波方法及试验研究[D].北京:北京航空航天大学,2009.
[7]梁禄杨.基于逆向导航的捷联自对准技术研究[J].航天控制,2015,33[5]:8-11.
[8]李京书,许江宁,何泓洋,等.严格逆向过程的罗经回溯对准方法[J].系统工程与电子技术,2014,36(2):348-353.
[9]Gao W,Ben Y Y,Zhang X,et al.Rapid fine strapdown INS alignment method under marine mooring condition[J].IEEE Trans.on Aerospace and Electronic Systems,2011,47(4):2887-2896.