UPF+KF在双轴旋转光学SINS非线性初始对准中的应用

Application of UPF+KF combined nonlinear filter in initial alignment of dual-axis rotation type optical SINS

以双轴旋转式SINS初始对准方法为研究对象,建立了双轴旋转式光学SINS大方位失准角误差模型,设计了双轴旋转式SINS大方位失准角初始对准的UPF初始对准算法;根据实际工程应用需要,结合UPF算法和卡尔曼滤波(KF)算法,设计了UPF+KF组合滤波算法,将其应用到了双轴旋转式光学SINS大方位失准角初始对准中。仿真及试验结果表明,提出的UPF+KF组合滤波算法有效降低了UPF算法的耗时,在双轴旋转式光学SINS大方位失准角初始对准中,水平姿态角收敛时间约为11min,方位角收敛时间约为20 min,而且对准误差大大缩小,水平姿态角误差小于3.6〞,方位误差小于2ˊ,证明本文提出的UPF+KF组合滤波算法是有效的、可行的。

The dual-axis rotary SINS initial alignment algorithm was studied, and the nonlinear error model of large azimuth misalignment（LHMA） for the dual-rotary optical gyro SINS were established. The UPF initial alignment algorithm of the system was designed. Based on the requirement of the practical engineering, the UPF＋KF combination nonlinear filter was designed, and the combination filter was applied to the LHMA initial alignment of the dual-rotary optical gyro SINS. Simulation and experiment results show that the combination algorithm can reduce the time cost, and the level initial alignment accuracy is superior to 3.6＂ , the convergent time is about 11 min, the heading accuracy is superior to 2 ＂, and the convergent time is about 22 min, showing that the proposed algorithm is effective and feasible in the practical project.