基于重力视运动的SINS对准优化算法

Optimal Algorithm for SINS Alignment Based on Gravitational Apparent Motion

针对无纬度条件下捷联惯导晃动基座对准问题,为提升航向角对准精度,提出了一种基于重力视运动的对准优化算法。通过小波去噪与重力观测矢量重构降低线振动与惯性器件随机噪声的影响。并提出了一种基于梯度下降的地轴矢量确定算法,对观测信息进行了充分利用,且最大限度地遍历了重力观测矢量组之间的夹角,使地轴矢量解算更为精确。仿真测试表明,基于梯度下降的地轴矢量解算优于现有的QUEST解算方法,使重力视运动对准具有更高的航向角对准精度与稳定性,且短时间对准时优势更为明显。通过三轴转台测试进一步验证了该方法的有效性。

According to the problem of swaying base alignment for SINS without latitude,to improve the yaw accuracy of alignment,an optimalalgorithm based on gravitational apparent motion is proposed.Through wavelet denoising and observation vector reconstruction,the influence of linear vibration and random noise of inertial devices are reduced.An algorithm for determining the earth axis vector based on gradient descent is proposed.The observation information is fully used,and the angle between the gravity observation vector groups is traversed to the greatest extent,so that the earth axis vector calculation is more accurate.The simulation test shows that the earth axis vector calculation based on gradient descent is superior to the existing QUEST solution method.The optimal algorithm of gravitational apparent motion alignment has higher accuracy and stability of yaw calculation,and the advantage is more obvious in short time alignment.The effectiveness of the method was further verified by the three-axis turntable test.