| 系泊状态下捷联惯导自对准算法 |
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| 引用本文： | 何昆鹏,王晓雪.系泊状态下捷联惯导自对准算法[J].压电与声光,2015,37(4):565-564. |
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| 作者姓名： | 何昆鹏 王晓雪 |
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| 作者单位： | (哈尔滨工程大学 自动化学院，黑龙江 哈尔滨 150001) |
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| 基金项目： | 国家自然基金资助项目(51309059) |
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| 摘 要： | 系泊状态下,陀螺仪与加速度计的输出会受到角运动与线振动的干扰。为此,该文在姿态求解方法(Wahba)初始对准方法的基础上引入隐式马尔科夫模型卡尔曼滤波(HMM/KF),由角运动和线振动引起的干扰经过HMM/KF滤波器被滤除。与传统数字滤波器采用先验固定截止频率相比,该方法具有更强的自适应性。利用海上实验对比分析引入HMM/KF滤波的对准结果,研究结果表明,该方法不需进行粗对准,能在系泊状态下快速实现自对准。
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| 关 键 词： | 系泊状态 自对准 隐式马尔科夫模型 截止频率 |
Aligorithm Design of Self alignment in Ship based SINS |
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| HE Kunpeng and WANG Xiaoxue.Aligorithm Design of Self alignment in Ship based SINS[J].Piezoelectrics & Acoustooptics,2015,37(4):565-564. |
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| Authors: | HE Kunpeng and WANG Xiaoxue |
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| Affiliation: | (College of Automation,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | SINS attitude matrix can not be calculated directly from the output of gyro and accelerometer due to the interference of strong angular motion and linear vibration.In order to solve the problems,a novel HMM/KF(hidden Markov model/Kalman filter) based Wahba initial aligement aligorithm was proposed,the interference caused by angular motion and linear vibration were pre filtered through HMM/KF.Compared with conventional digital filters using a priori fixed cut off frequency ,this method has a stronge adaptive characteristic.Mooring alignment experiment results show that the presented method can accomplish alignment quickly even in the presence of angular motion and linear vibration interference without the coarse alignment process. |
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| Keywords: | mooring condition self alignment hidden Markov model cut off frequency |
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