A Fast Initial Alignment Filtering Method of Velocity and Attitude Matching on Dynamic Base for Underwater Vehicle
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摘要: 研究了水下航行器动基座对准问题,建立了动基座对准误差模型,在对准时水下航行器在阵风、海浪的干扰下做直线加速运动，利用GPS提供的速度和姿态信息进行辅助对准，并建立了系统的观测方程。提出了一种基于四元数姿态更新的速度、姿态匹配方式的对准方法,并用该方法估计3个失准角。理论研究与仿真结果表明，该方法不但满足水平失准角估计的速度和精度要求，而且能快速、精确地估计出方位失准角。Abstract: The alignment of underwater vehicle on dynamic base is studied, and an error model of strapdown inertial navigation system(SINS) is established. The underwater vehicle runs straightly and acceleratively in waves and winds during the process of alignment. Meanwhile the information of velocity and attitude from global positioning system(GPS) is used to help implement alignment, so the observation equations can be obtained. An alignment method based on quaternion attitude updating with the matching of velocity and attitude is proposed to estimate three initial misalignment angles. Consequently the misalignment angles are accurately and quickly estimated. Especially the method reduces the time for estimating azimuth error, and improves the accuracy of estimation. The simulation results illustrate the efficiency of the method.
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