基于姿态确定的初始对准算法研究
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国家自然科学基金资助项目(61304241,61374206)

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Study on the Initial Alignment Algorithm Based on the Attitude Determination
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    摘要:

    由于受风浪等外部信息的干扰,传统粗对准法已很难达到理想的精度来保证精对准中对误差模型小角度条件的成立。基于姿态确定的惯性系初始对准方法在抑制外界干扰、对准的快速性等方面都具有较大优势。但该算法存在横滚角估计误差累计的问题,影响了最终的对准精度。因此,该文提出在求取初始时刻横滚角时,只利用短时间内的运动信息,从而可抑制横滚角估计误差的累积,最后通过仿真和车载实验验证了该方法的可行性。

    Abstract:

    Due to the disturbance caused by wind and wave, the traditional alignment methods are no longer applicable to the strapdown inertial navigation system. The newlyderived attitude determination based alignment (ADBA)has been widely approved as a promise alternative scheme due to its advantages in terms of alignment speed and disturbance robustness. However, the ADBA is virtually a coarse alignment method, which can not compensate the sensor errors. This drawback make the roll angle estimate by ADBA possess divergent error, which can much degrade the alignment performance of ADBA. In order to overcome this drawback, this paper proposes to align the roll angle using only very short outputs of inertial sensors while align the pitch and yaw angles using more data. The simulation and experimental studies were carried out to validate the proposed method.

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方轩,高敬东,薛博阳.基于姿态确定的初始对准算法研究[J].压电与声光,2016,38(5):775-778. FANG Xuan, GAO Jingdong, XUE Boyang. Study on the Initial Alignment Algorithm Based on the Attitude Determination[J]. PIEZOELECTRICS AND ACOUSTOOPTICS

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  • 在线发布日期: 2016-10-18
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