基于改进四元数阻尼误差模型的SINS初始对准算法

doi:10.12305/j.issn.1001-506X.2021.11.34

摘要/Abstract

摘要：

针对传统捷联惯导系统(strapdown inertial navigation system, SINS)四元数非线性误差模型存在坐标系不一致的问题, 对姿态误差模型和速度误差模型进行改进, 将误差矢量统一投影至计算导航坐标系下。此外, 引入全球定位系统阻尼信息, 在阻尼SINS解算基础上, 结合四元数无迹估计器提出了一种改进四元数阻尼误差模型对准算法, 可应用于系泊状态下的SINS初始对准。仿真和车载试验结果表明, 在不同的大失准角下, 该改进算法相比传统四元数阻尼误差模型对准算法和欧拉角阻尼误差模型对准算法, 具有更好的对准精度、收敛速度以及稳定性。

关键词: 捷联惯导系统, 初始对准, 四元数, 非线性误差模型, 阻尼

Abstract:

Aiming at the coordinate-frame inconsistency in traditional quaternion nonlinear error model of strapdown inertial navigation system (SINS), the attitude error model and velocity error model are improved, the error vector is projected into the computational navigation coordinate frame. In addition, the damping information of global position system is introduced, based on the damping SINS calculation and unscented quaternion estimator, a novel alignment algorithm based on improved quaternion damping error model is proposed, which is applied to the initial alignment of SINS in mooring state. Simulation and vehicle test results show that the improved algorithm has better alignment accuracy, convergence speed and stability than the traditional quaternion damping error model alignment algorithm and Euler angle damping error model alignment algorithm under different large misalignment angles.

Key words: strapdown inertial navigation system, initial alignment, quaternion, nonlinear error model, damping

中图分类号:

U666.1

赵仁杰, 李开龙, 胡柏青, 田佳玉. 基于改进四元数阻尼误差模型的SINS初始对准算法[J]. 系统工程与电子技术, 2021, 43(11): 3330-3337.

Renjie ZHAO, Kailong LI, Baiqing HU, Jiayu TIAN. SINS initial alignment algorithm based on improved quaternion damping error model[J]. Systems Engineering and Electronics, 2021, 43(11): 3330-3337.

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算法	俯仰/(′)	横滚/(′)	航向/(°)
Euler-T	1.941	2.581	2.215
Euler-I	0.463	0.190	0.281
Quaternion-T	0.563	0.866	0.587
Quaternion-I	0.399	0.375	0.097

组别	算法	俯仰/(′)	横滚/(′)	航向/(°)
Ⅰ	Euler-T	0.103	0.090	0.161
	Euler-I	0.043	0.040	0.050
	Quaternion-T	0.044	0.014	0.100
	Quaternion-I	0.025	0.015	0.035
Ⅱ	Euler-T	0.146	0.170	0.246
	Euler-I	0.034	0.033	0.036
	Quaternion-T	0.046	0.015	0.113
	Quaternion-I	0.022	0.016	0.023
Ⅲ	Euler-T	0.218	0.264	0.385
	Euler-I	0.038	0.028	0.038
	Quaternion-T	0.064	0.017	0.172
	Quaternion-I	0.023	0.016	0.024
Ⅳ	Euler-T	0.328	0.350	0.596
	Euler-I	0.039	0.024	0.049
	Quaternion-T	0.100	0.020	0.292
	Quaternion-I	0.024	0.016	0.027
Ⅴ	Euler-T	0.462	0.426	0.858
	Euler-I	0.047	0.021	0.061
	Quaternion-T	0.115	0.021	0.349
	Quaternion-I	0.024	0.016	0.030

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