基于欧拉角的捷联惯性组合导航滤波算法比较

Comparison of Strapdown Inertial Integrated Navigation Filtering Based on Euler Angle

论文立足于欧拉角,开展了欧拉角与双欧拉角在线性模型与非线性模型下捷联惯性基组合滤波的比较与分析研究,阐述其中的关键差异点,并且通过仿真实验比较基于欧拉角线性模型与非线性模型下的滤波算法以及双欧拉角法非线性滤波算法的精度,结果表明基于双欧拉的无迹卡尔曼滤波算法在精度上比传统卡尔曼滤波和基于欧拉角的无迹卡尔曼滤波算法收敛速度更快,滤波精度也有了明显提升。根据不同的实际导航任务需要,实验结果可以为组合导航滤波算法的选取提供参考。

Based on Euler's angle,the comparison of Euler angle and double Euler angle in the linear model and nonlinear model filters is carried on.Besides,the key differences in strapdown inertial integrated navigation filtering are elaborated and analyzed.The Euler angle based linear and nolinear model filters and the double Euler angle based nolinear model filters are evaluated by computer simulation experiment.The results show that the double Euler nonlinear filtering method has a certain improvement in accuracy compared with the traditional Kalman filter and the unscented Kalman filter.The results can provide useful reference for the selection and use of integrated navigation filters.