一种粒子滤波SINS大方位失准角初始对准方法

李慧平; 张福斌; 徐德民; 卢淑娟

doi:10.11993/j.issn.1673-1948.2009.06.014

一种粒子滤波SINS大方位失准角初始对准方法

doi: 10.11993/j.issn.1673-1948.2009.06.014

西北工业大学航海学院,陕西西安,710072

基金项目: 西北工业大学研究生创业种子基金项目资助（Z200708)

详细信息

作者简介:
李慧平(1983-)，男,在读硕士，研究方向为导航系统与非线性滤波.

中图分类号: TJ630.1; U666.12
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- 文章访问数: 1978
- HTML全文浏览量: 2
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- 被引次数: 0
出版历程
- 收稿日期: 2007-12-26
- 修回日期: 2008-03-31
- 刊出日期: 2009-12-30

An Initial Alignment Method of Large Azimuth Misalignment Angle in Strap-down Inertial Navigation System Based on Particle Filter

College of Marine Engineering,Northwestern Polytechnical University,Xi′an 710072,China

摘要

摘要: 针对捷联惯导系统大方位失准角的情况，分析了系统非线性误差模型，提出了基于最优重要性分布函数的序贯重要性采样粒子滤波（SIS-PF）初始对准方法，并进行了仿真研究。仿真结果表明，在大方位失准角初始对准中，基于最优重要性分布函数的序贯重要性采样粒子滤波器初始对准精度比无迹卡尔曼滤波器（UKF）提高了一个数量级，与序贯重要性重采样粒子滤波（SIR-PF）初始对准相比，该方法不但精度高，而且计算量小。
- SIS-PF /
- SIR-PF /
- 大方位失准角 /
- 捷联惯导系统 /
- 初始对准
Abstract: The non-linear error model of strap-down inertial navigation system (SINS) on stationary base with large azimuth misalignment angle is analyzed. A method of initial alignment based on the sequential importance sample particle filter (SIS-PF) using optimal importance distribution function is presented. Simulation results show that the initial alignment precision of SIS-PF is one magnitude higher than that of the unscented kalman filter (UKF) in case of large heading error. Compared with the sequential importance resample particle filter (SIR-PF), SIS-PF achieves higher precision with less computation cost.

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参考文献(10)

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