基于罗德里格参数的线性最优估计自对准

Linear optimized self-alignment for SINS using Rodrigues parameters

针对车载捷联惯导系统怠速条件下的初始对准问题,提出了一种基于罗德里格参数的线性最优估计自对准算法。利用姿态阵分解和凯莱变换,将任意姿态下的无初值初始对准问题简化为罗德里格参数的无约束线性最优估计问题。讨论了算法的有效性,推导了算法的对准误差公式,并设计了一种简洁的工程实现方案。利用车载捷联惯导系统进行了四位置对准试验,每个位置对准六次,结果表明,在发动机振动及外界随机扰动下,新算法可以在5 min内完成对准,统计方位均方差(1σ)不超过3′。

A method for fast initial alignment of SINS using Rodrigues parameters was proposed for land vehicles under complex disturbances. Through attitude matrix decomposition and Cayley transform, the alignment is transformed into an unconstraint linear optimization of Rodrigues parameters. The effectiveness of the algorithm was discussed, the error equations were deduced, and a simple implementation scheme was proposed. A four-position alignment experiments with 6 times each position was carried out by using the vehicle SINS under the engine vibration and external random disturbances. The results show that the new algorithm can converge within 5 min, and the root mean square（1？） of yaw error is less than 3？.