平滑算法在航空物探高精度姿态测量中的应用

为了满足航空物探对于高精度姿态、位置基准的需求,对平滑算法在航空物探高精度姿态测量中的应用进行研究。采用SINS与单天线GPS组合导航的方案,构建了15状态Kalman滤波器。通过仿真实验和转台实验分析了机动对于状态估计的影响,对比了Kalman滤波与R-T-S(Rauch-Tung-Streibel)平滑的估计效果。实验结果表明:经过R-T-S平滑处理后,可以显著提高组合导航系统的状态估计精度,在长航时高动态条件下为航空物理探测仪器提供高精度的参考基准。

Application of Smoothing Algorithms for High Precise Attitude Determinationin Aerial Geophysical Prospecting

The smoothing algorithm for high precise attitude determination in aerial geophysical prospecting is studied to meet with the requirement of high precise attitude and position base.The Kalman filter of 15 states is constructed based on SINS with the aid of single antenna GPS.Analyze the influence of maneuver on state estimation accuracy and compares the effects of Kalman filter with rauch-tung-streibel(R-T-S) smoother through simulation and turntable test.It shows that after R-T-S smooth processing,state estimation accuracy is significantly improved,and high precision references can be provided for aerial geophysical prospecting instrument under long endurance and high dynamic conditions.