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捷联惯导初始对准的UKF改进算法
引用本文:陆海勇,赵伟,贺荣光,赖际舟.捷联惯导初始对准的UKF改进算法[J].航空兵器,2009(3):17-21.
作者姓名:陆海勇  赵伟  贺荣光  赖际舟
作者单位:1. 南京航空航天大学自动化学院导航研究中心,南京,210016
2. 空军驻江西地区军事代表室,南昌,330024
摘    要:针对UKF在捷联惯导系统静基座大方位失准角的初始对准中出现的计算量大和滤波数值不稳定的问题,本文提出了改进的UKF滤波。改进的UKF滤波应用了超球面采样和平方根滤波方法,降低了算法的计算量,提高了滤波过程中的数值稳定性。仿真结果表明,改进的UKF滤波在保证初始对准滤波精度的前提下降低了计算量,提高滤波性能,验证了改进的UKF滤波方法的有效性和优越性。

关 键 词:超球面采样  平方根滤波  初始对准

SINS Initial Alignment Based on Improved UKF
LU Hai-yong,ZHAO Wei,He Rong-guang,LAI Ji-zhou.SINS Initial Alignment Based on Improved UKF[J].Aero Weaponry,2009(3):17-21.
Authors:LU Hai-yong  ZHAO Wei  He Rong-guang  LAI Ji-zhou
Affiliation:LU Hai-yong , ZHAO wei , He Rong-guang, LAI Ji-zhou (1. NRC College of Automation Engineering, Nanjing University of Aeronautic & Astronautic, Nanjing 210016, China; 2. Air Force Military Representative Office in Jiangxi, Nanchang 330024, China)
Abstract:In initial alignment of static base large azimuth misalignment of SINS, the main problems of Unscented Kalman Filter drawn into initial alignment are large calculation amount and numerical instability. Aiming at this problem, an improved UKF algorithm based on spherical sampling and square-root filtering is presented. This method reduces the amount of computation and improves the numerical stability in the process of filtering. The simulation results show that the improved UKF algorithm can yield the lower amount of calculation and better performance of filtering at the premise of ensuring the accuracy of alignment, the effectiveness and the superiority of improved UKF algorithm is also verified.
Keywords:spherical sampling  square-root filter  initial alignment
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