发射惯性坐标系下误差角与数学平台失准角的推导与仿真

Deduction and Simulation of Angular Error Relationship in "SINS/CNS" Integrated Navigation System

基于状态空间法的捷联惯性/天文组合导航系统(SINS/CNS)需要数学平台失准角作为观测值参与滤波估计,工程实际只能得到SINS、CNS二者的姿态误差角。以弹道导弹为背景,在发射惯性坐标系下分别推导了四元数和欧拉角形式的姿态误差角与数学平台失准角之间的相互转换矩阵。建立了弹道导弹SINS/CNS数学模型,并采用EKF和UKF算法验证了该转换矩阵。仿真结果表明误差转换矩阵的正确性。

In order to gain high accuracy navigation parameters,the attitude transformation matrix between attitude angular error and mathematic platform angular error is derived for a ballistic missile in this paper and is deduced in forms of both quaternion and Euler angles.The method of ＂State of Space＂ is often used to estimate navigation parameters,in which the mathematic platform angular error is the observation value involved in the observation equation of ＂SINS/CNS＂ integrated navigation system for ballistic missile and the attitude angular error rather than the mathematic platform angular error is obtained.So,the transform matrix with both quaternion form and Euler form used to transform attitude angular error into the mathematic platform angular error is deduced in this paper.The mathematical model in launch inertial coordinate system is established,EKF and UKF are adopted to verify the transformation matrix in the simulation.The results show correctness of the transformation matrix.