基于PSO的USQUE在组合导航姿态估计中的应用

doi:10.3969/j.issn.1001-506X.2020.06.21

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (6): 1366-1371.doi: 10.3969/j.issn.1001-506X.2020.06.21

基于PSO的USQUE在组合导航姿态估计中的应用

吕旭¹(), 胡柏青¹(), 戴永彬²(), 赵仁杰¹()

1. 海军工程大学电气工程学院, 湖北武汉 430033
2. 辽宁工业大学电气工程学院, 辽宁锦州 121001

收稿日期:2019-11-08 出版日期:2020-06-01 发布日期:2020-06-01
作者简介:吕旭(1990-),男,博士研究生,主要研究方向为惯性导航技术及应用。E-mail:lvclay@163.com|胡柏青(1964-),男,教授,博士研究生导师,博士,主要研究方向为惯性导航技术及应用。E-mail:hubaiqing2005@163.com|戴永彬(1972-),男,教授,硕士研究生导师,博士,主要研究方向为非线性控制系统、预测控制、智能控制。E-mail:dyb16@163.com|赵仁杰(1995-),男,硕士研究生,主要研究方向为惯性导航技术及应用。E-mail:18827359108@163.com
基金资助:
国家自然科学基金(61703419)

Application of USQUE based on PSO in attitude estimation of integrated navigation

Xu LYU¹(), Baiqing HU¹(), Yongbin DAI²(), Renjie ZHAO¹()

1. College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China
2. School of Electrical Engineering, Liaoning University of Technology, Jinzhou 121001, China

Received:2019-11-08 Online:2020-06-01 Published:2020-06-01
Supported by:
国家自然科学基金(61703419)

摘要/Abstract

摘要：

针对组合导航姿态估计中无味四元数估计(unscented quaternion estimation, USQUE)的噪声协方差矩阵参数无法准确给出等问题,提出基于粒子群优化的USQUE(USQUE based on particle swarm optimization, PSO-USQUE)算法。通过粒子群算法对噪声协方差矩阵Q和R进行寻优,获取优化的噪声协方差矩阵等滤波先验条件;分别进行仿真实验和微机电惯导系统/GPS车载实验。实验结果表明,对于USQUE的姿态估计问题, PSO-USQUE算法相比常规算法具有更高的精度,验证了所提算法的有效性。

关键词: 粒子群优化, 四元数, 卡尔曼滤波, 组合导航, 姿态估计

Abstract:

Aiming at the problem that the noise covariance matrix parameters of the unscented quaternion estimation (USQUE) in integrated navigation attitude estimation cannot be given accurately, an USQUE based on particle swarm optimization (PSO-USQUE) algorithm is proposed. PSO is used to optimize the noise covariance matrices Q and R, and the filtering prior conditions such as the optimized noise covariance matrix are obtained. In order to verify the effectiveness of the algorithm proposed, simulation tests and micro-electro-mechonical system (MEMS) inertial navigation system/GPS vehicle tests are performed separately. The experimental results show that the PSO-USQUE algorithm has higher accuracy than the conventional algorithm for the attitude estimation problem of USQUE.

Key words: particle swarm optimization (PSO), quaternion, Kalman filter, integrated navigation, attitude estimation

中图分类号:

U666.11

吕旭, 胡柏青, 戴永彬, 赵仁杰. 基于PSO的USQUE在组合导航姿态估计中的应用[J]. 系统工程与电子技术, 2020, 42(6): 1366-1371.

Xu LYU, Baiqing HU, Yongbin DAI, Renjie ZHAO. Application of USQUE based on PSO in attitude estimation of integrated navigation[J]. Systems Engineering and Electronics, 2020, 42(6): 1366-1371.

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属性	陀螺仪	加速度计
动态量程	±150°/s	±10 g
更新率	100 Hz	100 Hz
零偏	≤0.5°/s	≤0.005 g
零偏稳定性	≤0.02°/s	≤0.001 g
零偏重复性	≤0.02°/s	≤0.001 g

属性	GPS有效
航向/(°)	0.1(基线长度≥2 m)
姿态/(°)	0.1(动态)
速度/(m/s)	0.1
位置	水平≤2 m(1σ);高程≤4 m(1σ)

姿态	均值		均方差
姿态	USQUE	PSO-USQUE	USQUE	PSO-USQUE
俯仰/(°)	0.584 4	0.446 9	0.788 5	0.749 8
横滚/(°)	0.610 2	0.263 4	1.178 3	0.217 0
航向/(°)	4.640 8	2.551 8	41.875 1	14.500 4

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基于PSO的USQUE在组合导航姿态估计中的应用

Application of USQUE based on PSO in attitude estimation of integrated navigation

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