Misalignment angle error model describing the SINS mathematical platform error is presented in this paper following the idea of small misalignment angle error model and large azimuth misalignment angle error model.It ...Misalignment angle error model describing the SINS mathematical platform error is presented in this paper following the idea of small misalignment angle error model and large azimuth misalignment angle error model.It can be considered that the three misalignment angles are independent of the rotational sequence in the misalignment error model,but not suitable in the large misalignment error model.The error angle of Euler platform is used to represent the three misalignment angles from theoretical navigation coordinate system to computational navigation coordinate system.The Euler platform error angle is utilized to represent the mathematical platform error and its physical meaning is very clear.The SINS nonlinear error model is deduced by using the error angle of Euler platform and is simplified under the condition of large azimuth error and small error.The simplified results are more comprehensive and accurate than the large azimuth misalignment error model.The damping SINS algorithm and its error model are proposed to change the structure of the strapdown inertial navigation algorithm by using the external damping information.The accuracy of SINS error model of large Euler platform error angle is simulated,and has strong practicability in initial alignment and is conducive to reducing the amount of calculation.展开更多
In the traditional unscented Kalman filter（UKF）,accuracy and robustness decline when uncertain disturbances exist in the practical system.To deal with the problem,a robust UKF algorithm based on an H-infinity norm i...In the traditional unscented Kalman filter（UKF）,accuracy and robustness decline when uncertain disturbances exist in the practical system.To deal with the problem,a robust UKF algorithm based on an H-infinity norm is proposed.In Krein space,a robust element is added in the simplified UKF so as to improve the algorithm.The filtering gain is adjusted by the robust element and in this way the performance of the robustness of the filtering algorithm is promoted.In the initial alignment process of the large heading misalignment angle of the strapdown inertial navigation system（SINS）,comparative studies are conducted on the robust UKF and the simplified UKF.The simulation results illustrate that compared with the simplified UKF,the robust UKF is more accurate,and the estimation error of heading misalignment decreases from 16.9＇ to 4.3＇.In short,the robust UKF can reduce the sensitivity to the system disturbances resulting in better performance.展开更多
基金This work is funded by Natural Science Foundation of Jiangsu Province under Grant BK20160955a project funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions and Science Research Foundation of Nanjing University of Information Science and Technology under Grant20110430+1 种基金Open Foundation of Jiangsu Key Laboratory of Meteorological Observation and Information Processing(KDXS1304)Open Foundation of Jiangsu Key Laboratory of Ocean Dynamic Remote Sensing and Acoustics(KHYS1405).
文摘Misalignment angle error model describing the SINS mathematical platform error is presented in this paper following the idea of small misalignment angle error model and large azimuth misalignment angle error model.It can be considered that the three misalignment angles are independent of the rotational sequence in the misalignment error model,but not suitable in the large misalignment error model.The error angle of Euler platform is used to represent the three misalignment angles from theoretical navigation coordinate system to computational navigation coordinate system.The Euler platform error angle is utilized to represent the mathematical platform error and its physical meaning is very clear.The SINS nonlinear error model is deduced by using the error angle of Euler platform and is simplified under the condition of large azimuth error and small error.The simplified results are more comprehensive and accurate than the large azimuth misalignment error model.The damping SINS algorithm and its error model are proposed to change the structure of the strapdown inertial navigation algorithm by using the external damping information.The accuracy of SINS error model of large Euler platform error angle is simulated,and has strong practicability in initial alignment and is conducive to reducing the amount of calculation.
基金The National Basic Research Program of China (973 Program) (No. 613121010202)
文摘In the traditional unscented Kalman filter（UKF）,accuracy and robustness decline when uncertain disturbances exist in the practical system.To deal with the problem,a robust UKF algorithm based on an H-infinity norm is proposed.In Krein space,a robust element is added in the simplified UKF so as to improve the algorithm.The filtering gain is adjusted by the robust element and in this way the performance of the robustness of the filtering algorithm is promoted.In the initial alignment process of the large heading misalignment angle of the strapdown inertial navigation system（SINS）,comparative studies are conducted on the robust UKF and the simplified UKF.The simulation results illustrate that compared with the simplified UKF,the robust UKF is more accurate,and the estimation error of heading misalignment decreases from 16.9＇ to 4.3＇.In short,the robust UKF can reduce the sensitivity to the system disturbances resulting in better performance.
