摘要
基于欧拉平台误差角的概念,建立了大失准角条件下的激光捷联惯导系统(SINS)非线性误差模型,深入研究了Sigma点卡尔曼滤波(SPKF)及其在大失准角对准中的应用。针对对准模型的特性,推导了SPKF简化算法,进行了静基座下基于扩展卡尔曼滤波(EKF)、简化SPKF的SINS初始对准仿真。仿真结果表明简化型SPKF能有效克服EKF的不足,具有更高的估计精度,且减少了计算量,是SINS非线性对准的一种理想的方法。
The nonlinear error model of laser SINS was set up based on the concept of Euler platform error （EPEA） under large misalignment angels.The Sigma-Point Kalman filter（SPKF）and its application in SINS nonlinear alignment were discussed.According to the peculiarity of the SINS nonlinear error model,the simplified SPKF algorithm was derived,and the SINS initial alignment were simulated based on EKF and simplified SPKF.The results showed that the simplified SPKF had better precision than EKF,and could reduce the computation burden greatly.So it was a perfect way for SINS nonlinear alignment.
出处
《压电与声光》
CSCD
北大核心
2010年第5期746-749,753,共5页
Piezoelectrics & Acoustooptics
