[1]冉昌艳,程向红,王海鹏.基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法[J].东南大学学报(自然科学版),2014,44(2):266-271.[doi:10.3969/j.issn.1001-0505.2014.02.008]
 Ran Changyan,Cheng Xianghong,et al.SINS nonlinear initial alignment using Gauss-Hermite quadrature Kalman filter[J].Journal of Southeast University (Natural Science Edition),2014,44(2):266-271.[doi:10.3969/j.issn.1001-0505.2014.02.008]
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基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
44
期数:
2014年第2期
页码:
266-271
栏目:
仪器科学与技术
出版日期:
2014-03-20

文章信息/Info

Title:
SINS nonlinear initial alignment using Gauss-Hermite quadrature Kalman filter
作者:
冉昌艳12程向红1王海鹏1
1东南大学仪器科学与工程学院, 南京 210096; 2三峡大学计算机与信息学院, 宜昌 443002
Author(s):
Ran Changyan1 2 Cheng Xianghong1 Wang Haipeng1
1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2College of Computer and Information Technology, Three Gorges University, Yichang 443002, China
关键词:
求积分卡尔曼滤波 捷联惯导系统 初始对准 大方位失准角
Keywords:
quadrature Kalman filter SINS(strapdown inertial navingation system) initial alignment large azimuth misalignment angle
分类号:
U666.1
DOI:
10.3969/j.issn.1001-0505.2014.02.008
摘要:
为了改善大方位角初始对准精度和缩短收敛时间,在SINS动基座初始对准中引入了简化的Gauss-Hermite求积分卡尔曼滤波(QKF)方法.首先分析了Gauss-Hermite求积分中的单变量Gauss点及其系数配置方法,然后采用直接张量积法将单变量配置扩展后得到多变量Gauss点及其系数配置方法,给出了简化的QKF滤波算法.最后通过数学仿真分析比较了单变量积分点数为3的QKF(3点QKF)与比例对称采样UKF的对准性能,以及单变量积分点数取不同值(3,5和7)对QKF滤波性能的影响.结果表明:在动基座SINS大方位角初始对准中,3点QKF的对准精度远高于UKF的精度,方位角估计收敛速度也快于UKF,并且随着单变量Gauss积分点数的增加,QKF对准精度会进一步提高.
Abstract:
In order to improve the precision and shorten the convergence time of SINS(strapdown inertial navigation system)initial alignment with a large azimuth misalignment angle, a simplified Gauss-Hermite quadrature Kalman filter(QKF)is introduced into the SINS initial alignment on a moving base. First, the configuration method for one-dimensional Gauss points and their corresponding coefficients in Gauss-Hermite quadrature is derived, which is then extended to form the multidimensional Gauss points and their coefficients using the direct tensor method. A simplified QKF is presented. Finally, by means of mathematical simulation, the filter performance of UKF(unscented Kalman filter)based on scaled symmetric sampling and QKF using 3 points in one dimension in SINS initial alignment with a large azimuth misalignment angle is compared, and the influence of different point numbers(3, 5 and 7)of one dimension on the QKF filter performance is also analyzed. The simulation results show that under the condition of a large azimuth misalignment angle on a moving base, the alignment accuracy of a 3-point QKF is much higher than that of the UKF, and the azimuth angle estimation error convergence rate of the three-point QKF is also much faster than that of the UKF. With the increase in the number of one-dimensional Gauss-Hermite quadrature points, the alignment accuracy of the QKF can be further improved.

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备注/Memo

备注/Memo:
收稿日期: 2013-05-07.
作者简介: 冉昌艳(1974—),女,博士生;程向红(联系人),女,博士,教授,博士生导师, xhcheng@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(61374215).
引用本文: 冉昌艳,程向红,王海鹏.基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法[J].东南大学学报:自然科学版,2014,44(2):266-271. [doi:10.3969/j.issn.1001-0505.2014.02.008]
更新日期/Last Update: 2014-03-20