华中科技大学学报：自然科学版2012，Vol.40Issue(2)：123-127,5.
基于SRCKF的水下航行器动基座初始对准技术
Initial alignment method of the dynamic base for underwater vehicles using SRCKF
摘要
Abstract
The initial alignment of strapdown inertial navigation system （SINS） can not be achieved quickly in moorage when the ocean condition is terrible. So the velocity information from Doppler velocity log（DVL） was used to help implement the alignment in the motion. Meanwhile, the rough azi-muth misalignment was only obtained in such environment, so the square root cubature Kalman filter （SRCKF） was put forward for initial alignment on the dynamic base. The filter algorithm effectively solved the problem of low precision and calculated the Jacobin matrix in extended Kalman filter. Fur-thermore, covariance square root matrix, instead of covariance one, was taken in filter iteration, which improved the convergence rate and stability of the algorithm. The simulation results show that the method can be effectively used in the initial alignment on dynamic base for underwater vehicles, and improve the alignment accuracy and numerical stability.关键词
动基座/初始对准/求容积卡尔曼滤波/扩展卡尔曼滤波/惯性导航系统Key words
dynamic base/initial alignment/cubature Kalman filter/extended Kalman filter/inertialnaviagation system引用本文复制引用
郝燕玲,杨峻巍,陈亮,郝金会..基于SRCKF的水下航行器动基座初始对准技术[J].华中科技大学学报：自然科学版,2012,40(2):123-127,5.基金项目
国家自然科学基金资助项目（60674087）. （）
