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

Abstract

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

CLC Number:

U666.1

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.

Figures/Tables 5

Fig.1

Fig.2

Table 1

Fig.3

Table 2

References 26

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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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SINS initial alignment algorithm based on improved quaternion damping error model

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