简化七阶CQKF及其在SINS大失准角初始对准中的应用

A Seventh-Degree Simplified CQKF and Its Application in SINS Initial Alignment of Misalignment Angle

针对捷联惯性导航系统(SINS)大失准角初始对准的滤波过程,提出简化七阶正交容积卡尔曼滤波算法(7th-SCQKF)。根据简化容积卡尔曼滤波(CKF)理论,推导出改进的简化七阶CKF算法(7th-MSSRCKF),改进了原简化七阶CKF(7th-SSRCKF)的性能;同时,在7th-SSRCKF和7th-MSSRCKF基础上,引入正交半径准则,提出简化七阶CQKF(7th-SCQKF)算法,提高了滤波精度;并将简化七阶CQKF(7th-SCQKF)算法应用到SINS的大失准角初始对准仿真中,结果表明,7th-SCQKF比7th-MSSRCKF的滤波精度高,验证了新算法的正确性和有效性。

A seventh-degree orthogonal simplified cubature Kalman filter algorithm（7 th-SCQKF） is proposed for the initial alignment of a strapdown inertial navigation system（SINS）. According to the simplified CKF theory,this paper introduces the improved seventh-order simplified CKF algorithm（7 th-MSSRCKF）,which improves the performance of the original seventh-degree simplified CKF（7 th-SSRCKF）. At the same time,on the basis of the 7 th-SSRCKF and 7 thMSSRCKF,the 7 th-SCQKF is proposed to improve the filtering accuracy. In the meantime,the seventh-degree simplified CQKF（7 th-SCQKF） algorithm is applied to SINS＇s large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7 th-SCQKF is higher than that of the 7 th-MSSRCKF,which verifies the correctness and validity of the new algorithm.