捷联惯导大失准角误差模型在快速传递对准中的应用

Rapid Transfer Alignment Based on Large Misalignment SINS Error Model

针对快速传递对准中主子惯导相对姿态存在大角度的情况,推导了捷联惯导大失准角误差模型。该模型采用欧拉角表示姿态误差,并用欧拉运动方程准确描述其传播规律。鉴于该模型中的姿态观测方程是复杂的非线性函数,采用无需求导的UKF算法,并采用奇异值分解(SVD)解决方差阵的病态问题。仿真结果表明,该算法在小角度误差条件下滤波精度优于线性模型,并且适用于大角度误差条件。

A large misalignment error model of stmpdown inertial navigation system（SINS） was deduced for the large relative attitude of rapid transfer alignment existing between the master and slave SINS, The Euler angles were introdueed to describe the attitude errors. The Euler＇s kinematics equations were applied to achieve the aeeuracy error model. The unscented Kalman filter （UKF） was applied to avoid the derivation calculus of the attitude measurement equations which were complex nonlinear fimctions. The singular value decomposition （SVD） was used to solve the ill-conditioned problem of eovarianee matrix. The simulation experiment results show that the alignment accuracy is improved both in small angle uncertainties, and large angle uncertainties.