本文選題：捷聯(lián)慣導(dǎo)系統(tǒng) + 晃動(dòng)基座　； 參考：《中國(guó)慣性技術(shù)學(xué)報(bào)》2017年02期

【摘要】：針對(duì)慣導(dǎo)系統(tǒng)晃動(dòng)基座行進(jìn)間初始對(duì)準(zhǔn)問(wèn)題,提出了一種基于重力矢量的QUEST(Quaternion Estimator)姿態(tài)最優(yōu)估計(jì)算法。在傳統(tǒng)基于重力矢量的初始對(duì)準(zhǔn)方法基礎(chǔ)上,將方向余弦矩陣的求解過(guò)程轉(zhuǎn)換為Wahba問(wèn)題,實(shí)現(xiàn)對(duì)重力矢量信息的充分利用,并通過(guò)QUEST算法實(shí)現(xiàn)了晃動(dòng)基座下行進(jìn)間粗對(duì)準(zhǔn)的最優(yōu)算法,改善了原有算法魯棒性以及實(shí)時(shí)性等方面的問(wèn)題。仿真和湖試實(shí)驗(yàn)驗(yàn)證表明,更改后的算法能夠明顯提高慣導(dǎo)系統(tǒng)在動(dòng)基座下的姿態(tài)估計(jì)速度和精度,特別在周期性線(xiàn)振動(dòng)環(huán)境下的對(duì)準(zhǔn)精度能夠提高一個(gè)數(shù)量級(jí)。多航次的湖試實(shí)驗(yàn)結(jié)果表明,改進(jìn)后的算法能夠有效提高航向?qū)?zhǔn)精度,綜合導(dǎo)航速度精度能夠提高50%左右。
[Abstract]:A Quaternion Estimator (Quaternion Estimator) attitude estimation algorithm based on gravity vector is proposed to solve the problem of initial alignment between the sloshing pedestal of inertial navigation system. Based on the traditional initial alignment method based on gravity vector, the solution process of directional cosine matrix is transformed into Wahba problem, which can make full use of gravity vector information. The optimal algorithm of coarse alignment under the sloshing base is realized by quest algorithm, which improves the robustness and real-time performance of the original algorithm. The simulation and lake experiment show that the modified algorithm can obviously improve the speed and accuracy of the inertial navigation system attitude estimation under the moving base, especially the alignment accuracy of the inertial navigation system under the periodic line vibration environment can be improved by an order of magnitude. The experimental results of multi-voyage lake test show that the improved algorithm can effectively improve the accuracy of heading alignment and the speed accuracy of integrated navigation can be improved by about 50%.
【作者單位】： 北京理工大學(xué)自動(dòng)化學(xué)院;北京自動(dòng)化控制設(shè)備研究所;
【基金】：海裝“十三五”預(yù)先研究課題(3020603030403)
【分類(lèi)號(hào)】：TN96

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