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

Abstract

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

CLC Number:

U666.11

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.

Figures/Tables 12

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References 21

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

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