捷联惯导姿态误差修正算法研究与仿真

Research and Simulation on SINS Attitude Error Correction Method

组合导航卡尔曼滤波对姿态角进行修正时,将惯导的平台角误差近似为姿态误差,会带来较大的数学模型误差,从而影响测姿精度。通过分析组合姿态算法中姿态作为量测信息时平台角误差与姿态角误差物理意义的不同,得到了两者的转换关系,从量测矩阵修正和观测值预处理两个方面对原有的姿态组合算法进行改进,有效降低了数学模型误差。仿真结果表明,改进后的姿态组合算法误差状态估算更加精确,能够有效地提高组合导航的测姿精度。

When the Kalman filter is used for the GPS/INS attitude angle error correction,the traditional method uses the platform angle error instead of attitude error,which brings a biggish error.This paper analyzes the difference between the platform angle error and the attitude error in the strapdown inertial navigation and the conversion matrix between them.The measurement matrix correction and observation pretreatment are used to take the place of the original method,which makes the error of the mathematical model reduce effectively.Simulation results show that with the improved methods the error state estimation is much more precise and the navigation information with high precision can be achieved.