基于水下地形匹配大姿态误差角捷联惯导系统误差估计方法

李 恒; 谌 剑; 罗 轩; 张静远

doi:10.11993/j.issn.1673-1948.2012.03.009

基于水下地形匹配大姿态误差角捷联惯导系统误差估计方法

doi: 10.11993/j.issn.1673-1948.2012.03.009

海军工程大学兵器工程系, 湖北武汉, 430033

基金项目: 部级国防科技预研基金项目(1010602010502)

详细信息

作者简介:
李恒(1982-), 男, 在读博士, 从事惯性导航及组合导航研究.

中图分类号: TJ630.33; TJ765.3
计量
- 文章访问数: 1415
- HTML全文浏览量: 1
- PDF下载量: 543
- 被引次数: 0
出版历程
- 收稿日期: 2011-07-12
- 修回日期: 2011-09-22
- 刊出日期: 2012-06-20

Error Estimation Method of SINS with Large Attitude Error Angle Based on Underwater Terrain Matching

Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China

摘要

摘要: 传统的基于线性滤波的误差估计方法常采用基于角法的捷联惯导系统(SINS)线性误差模型, 但当姿态误差角较大时, 估计效果不稳定且精度较差。为此, 提出了基于无迹卡尔曼滤波(UKF)的误差估计方法。通过建立水下地形匹配辅助导航系统非线性误差模型, 以地形匹配和深度压力传感器测量的位置信息和深度作为量测量, 设计了扩展状态UKF滤波器, 在大姿态误差角下仿真研究了其估计效果。结果表明, 在大姿态误差角下, 本文所提出的方法可行且具有较好的估计效果, 为匹配区内修正捷联惯导系统导航误差提供了参考。
- 水下地形匹配 /
- 捷联惯导系统 /
- 误差估计 /
- 误差模型 /
- 无迹卡尔曼滤波
Abstract: Conventional error estimation method based on linear filtering adopts the angle method-based linear error model of strapdown inertial navigation system (SINS). However, its estimation is unstable and inaccurate when attitude error angle is large. Therefore, we propose a new error estimation method based on unscented Kalman filter(UKF). By building a nonlinear error model of navigation system with underwater terrain matching and taking terrain matching, position and depth measured by depth-pressure sensor as the measured quantities, we design a state-extended UKF for error estimation. Simulation results indicate that our method achieves better navigation error estimation for large attitude error angles.
- underwater terrain matching /
- strapdown inertial navigation system(SINS) /
- error estimation /
- error model /
- un-scented Kalman filter (UKF)

HTML全文

参考文献(12)

[1]	万德均, 房建成. 惯性导航初始对准[M]. 南京: 东南大学出版社, 1998.
[2]	Saab S S, Gunnasson K T. Automatic Alignment and Calibration of an Inertial Navigation System[C]//IEEE Plans′94, 1994: 845-852.
[3]	Carlson C R, Gerdes J C, Powell J D. Error Sources When Land Vehicle Dead Reckoning with Differential Wheelspeeds[J]. Navigation, Journal of the Institude of Navigation, 2004, 15(1): 13-27.
[4]	李涛, 武元新, 薛祖瑞, 等. 捷联惯性导航系统误差模型综述[J]. 中国惯性技术学报, 2003,11(4): 66-72. Li Tao, Wu Yuan-xin, Xue Zu-rui, et al. Survey on Error Models of Strapdown Inertial Navigation System[J]. Journal of Chinese Inertial Technology, 2003, 11(4): 66-72.
[5]	张小跃, 张春熹, 宋凝芳. 基于组合导航技术的光纤捷联系统在线标定[J]. 航空学报, 2008, 29(6): 1656-1659. Zhang Xiao-yue, Zhang Chun-xi, Song Ning-fang. Online Calibration of FOG Strapdown System Based on Integrated Navigation Technology[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(6): 1656-1659.
[6]	卫育新, 白俊卿. 车载SINS/DR组合导航系统的在线标定方法[J]. 中国惯性技术学报, 2009, 17(6): 651- 653. Wei Yu-xin, Bai Jun-qing. Method of Vehicular SINS/DR In-tegrated Navigation System′s On-line Calibration[J]. Journal of Chinese Inertial Technology, 2009, 17(6): 651- 653.
[7]	陆志东, 王磊. 捷联惯导系统的空中标定方法[J]. 中国惯性技术学报, 2007, 15(2): 136-138. Lu Zhi-dong, Wang Lei. In-flight Calibration Method for SINS[J]. Journal of Chinese Inertial Technology, 2007, 15(2): 136-138.
[8]	Bar-Itzhack I Y, Harman R R. In-space Calibration of a Gyro Quadruplet[R]. AIAA-2001-4152, 2001.
[9]	Rogers R M. Applied Mathematics in Integrated Naviga-tion Systems[M]. Reston: American Institude of Aero-nautics and Astronautics Inc, 2003.
[10]	严恭敏，严卫生，徐德民. 基于欧拉平台误差角的SINS非线性误差模型研究[J]. 西北工业大学学报, 2009, 27(4): 511-517. Yan Gong-min, Yan Wei-sheng, Xu De-min. A SINS Nonlinear Error Model Reflecting Better Characteristics of SINS Errors[J]. Journal of Northwestern Polytechni-cal University, 2009, 27(4): 511-517.
[11]	李恒, 张静远. 基于水下地形匹配的捷联系统误差估计方法研究[J]. 海军工程大学学报, 2012，24(1): 39-44. Li Heng, Zhang Jing-yuan. Study on SINS Error Estima-tion Based on Underwater Terrain Matching[J]. Journal of Naval University of Engineering, 2012, 24(1): 39-44.
[12]	Julier S, JUhlmann J K. The Scaled Unscented Trans-formation[C]//Proceedings America Control Conference, 2002: 4555-4559.