大方位失准角传递对准非线性模型研究

Research on nonlinear error model of transfer alignment with large azimuth misalignment angle

针对惯导系统大方位失准角传递对准的非线性误差方程不准确问题,同时考虑杆臂效应和挠曲变形两种主要误差因素来建立挠曲变形和杆臂效应加速度一体化误差模型,从而完善惯导系统大方位失准角传递对准非线性模型.针对非线性滤波的稳定性和快速性问题,采用比例修正无味卡尔曼(UKF)滤波模型估计姿态失准角,并采用速度匹配算法对模型的正确性和滤波的有效性进行仿真验证.结果表明,该模型在大方位失准角传递对准时可以满足对准精度和时间的要求.

In order to solve the inaccurateness of nonlinear error model of inertial navigation system（INS） transfer alignment with large azimuth misalignment, tow major factors are taken into account, which are flexure and lever-arm effect. An incorporate acceleration error model of these factors is built, which make the nonlinear error model of transfer alignment accurate. In view of stability and rapidity of nonlinear filter, the scaled correctional unscented Kalman filter（UKF） is used to estimate attitude misalignment. The velocity matching is used to validate the inaccurateness of nonlinear error model and validity of nonlinear filter. The simulation results show that this model can meet the precision and time request in transfer alignment with large azimuth misalignment.