| 惯性系下捷联惯导系统最优两位置对准 |
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| 引用本文： | 高伟,叶攀,白红美,许伟通.惯性系下捷联惯导系统最优两位置对准[J].压电与声光,2015,37(3):386-388. |
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| 作者姓名： | 高伟 叶攀 白红美 许伟通 |
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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： | 国家自然科学基金资助项目（51379042）；中央高校基本科研业务费专项基金资助项目(heucfq1404) |
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| 摘 要： | 惯性系卡尔曼滤波对准的状态量不完全可观测,针对这一问题,提出惯性系两位置对准。根据分段线性定常系统理论和奇异值分解法分析惯性系两位置对准算法的可观测性,分析结果表明横摇、纵摇和航向3个轴中绕航向轴旋转时系统的可观测度最高。然后,以航向误差作为参考指标进行仿真,确定了绕航向轴旋转180°的两位置对准为最优。
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| 关 键 词： | 捷联惯导系统 惯性系 两位置对准 可观测性 卡尔曼滤波器 |
Optimal Two position Alignment for SINS under Inertial Frame |
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| GAO Wei,YE Pan,BAI Hongmei and XU Weitong.Optimal Two position Alignment for SINS under Inertial Frame[J].Piezoelectrics & Acoustooptics,2015,37(3):386-388. |
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| Authors: | GAO Wei YE Pan BAI Hongmei and XU Weitong |
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| Affiliation: | (Automation College, Harbin Engineering University, Harbin 150001,China) |
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| Abstract: | The filter state components are not completely observable in a Kalman filter on an inertial frame. Aiming at this problem, we propose a method of two position alignment. Based on the theory of piece wise constant system (PWCS) and the method of singular value decomposition (SVD), we can get the highest degree of observability as rotating the heading axis among the three axes. In addition, the simulation is carried out with the heading error specification, and the conclusion rotation with 180° along the heading axis is the optimal. |
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| Keywords: | strapdown inertial navigation system inertial frame two position alignment observability Kalman filter |
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