基于姿态估计的捷联惯导动机座初始对准技术研究

项目名称： 基于姿态估计的捷联惯导动机座初始对准技术研究

项目编号： No.61304241

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 常路宾

作者单位： 中国人民解放军海军工程大学

项目金额： 26万元

中文摘要： 基于惯性系的初始对准方法可有效隔离干扰角运动的影响，能够达到较高的初始对准精度，是目前捷联惯导动机座初始对准领域一个新的研究方向。然而现有惯性系初始对准方法未对惯性器件误差进行建模，同时不能隔离线运动干扰，因此其本质上是一种粗对准方法。基于此，本项目拟扩展现有惯性系初始对准思路，从坐标系分解角度出发推导一种考虑惯性器件误差的惯性系初始对准模型；同时将姿态估计的思想引入初始对准问题中，设计相应的动态滤波算法，具体包括：考虑四元数约束的无味卡尔曼滤波算法研究；可有效抑制外界干扰的鲁棒无味卡尔曼滤波算法研究；考虑所建立初始对准模型部分线性特性的降阶无味卡尔曼滤波算法研究。最终实现捷联惯导动机座初始精对准的目标。本项目研究思路具有一定的创新性和工程实用性，其预期成果可直接应用于目前捷联惯导动机座初始对准领域。

中文关键词： 惯性导航；初始对准；姿态估计；非线性滤波；

英文摘要： The inertial frame initial alignment method can deal with the severe angular disturbance, resulting in a satisfied alignment performance, which is currently the new research topic in the area of strapdown inertial navigation system (SINS) in-motion alignment. However, the inertial frame alignment method can not estimate anything other than the attitude quaternion, such as the sensor errors (bias, scale factor etc.), so it is virtually a coarse alignment method. In order to address the aforementioned drawbacks of the inertial frame alignment method, a novel inertial frame alignment model that includes the sensor errors estimate procedure is developed based on the decomposition of the attitude quaternion/matrix. Moreover, the proposed method essentially builds up an interesting link between the attitude estimation and the SINS initial alignment. Some dynamic filtering algorithms that involved in this method have also been studied, which include the unscented Kalman filter (UKF) with consideration of the norm-constraint of the attitude quaternion, the robust UKF that can handle the external disturbance and the computational efficient UKF with the consideration of the conditional linearity of the dynamic model. The aim of this subject is to develop an accurate, efficient and robust fine initial alignment method. The

英文关键词： inertial navigation；initial alignment；attitude estimation；nonlinear filtering；