基于插值非线性滤波的SINS静基座初始对准

Initial Alignment of SINS on Stationary Base Using Nonlinear Interpolation Filtering

讨论了捷联惯性导航系统(SINS)静基座初始对准的非线性和线性误差模型,提出一种基于插值非线性滤波的SINS静基座初始对准方法。分析了插值非线性滤波原理,给出了系统加性噪声情况下的二阶插值非线性滤波递推算法。进行了静基座状态下基于KF、EKF和插值非线性滤波的初始对准仿真。仿真结果表明,在大方位失准角的情况下,基于插值非线性滤波的对准方法具有更高的估计精度,且无需计算Jacobian矩阵,相对于EKF计算量更小,实现更为简单。

The nonlinear and linear error models of initial alignment for strapdown inertial navigation system （SINS） on stationary base were discussed, the principle of nonlinear interpolation filtering approach was analyzed, and the algorithm of nonlinear interpolation filtering for system model with additive noise was introduced, then it is applied to initial alignment for SINS on stationary base. The results of simulation using linear KF, EKF and nonlinear interpolation filtering indicate that the alignment performance of nonlinear interpolation filtering is better than KF and EKF in the case of large uncertainties in heading. Furthermore nonlinear interpolation filtering method is easier to implement than EKF because it needn＇t compute Jacobian matrix.