东南大学学报（自然科学版）Issue(2)：266-271,6.DOI:10.3969/j.issn.1001-0505.2014.02.008
基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法
SINS nonlinear initial alignment using Gauss-Hermite quadrature Kalman filter
摘要
Abstract
In order to improve the precision and shorten the convergence time of SINS(strapdown in-ertial navigation system)initial alignment with a large azimuth misalignment angle,a simplified Gauss-Hermite quadrature Kalman filter (QKF)is introduced into the SINS initial alignment on a moving base.First,the configuration method for one-dimensional Gauss points and their correspond-ing coefficients in Gauss-Hermite quadrature is derived,which is then extended to form the multidi-mensional Gauss points and their coefficients using the direct tensor method.A simplified QKF is presented.Finally,by means of mathematical simulation,the filter performance of UKF(unscented Kalman filter)based on scaled symmetric sampling and QKF using 3 points in one dimension in SINS initial alignment with a large azimuth misalignment angle is compared,and the influence of different point numbers(3 ,5 and 7 )of one dimension on the QKF filter performance is also ana-lyzed.The simulation results show that under the condition of a large azimuth misalignment angle on a moving base,the alignment accuracy of a 3-point QKF is much higher than that of the UKF,and the azimuth angle estimation error convergence rate of the three-point QKF is also much faster than that of the UKF.With the increase in the number of one-dimensional Gauss-Hermite quadrature points,the alignment accuracy of the QKF can be further improved.关键词
求积分卡尔曼滤波/捷联惯导系统/初始对准/大方位失准角Key words
quadrature Kalman filter/SINS (strapdown inertial navingation system)/initial align-ment/large azimuth misalignment angle分类
交通工程引用本文复制引用
冉昌艳,程向红,王海鹏..基于Gauss-Hermite求积分卡尔曼滤波的SINS非线性初始对准方法[J].东南大学学报（自然科学版）,2014,(2):266-271,6.基金项目
国家自然科学基金资助项目（61374215）． （）
