未知纬度下基于正交基构建的SINS直接解析对准方法
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摘要
传统的解析式对准思想源于双矢量定姿算法,参考矢量模型构建需要精确的纬度信息支持,解算后需正交化处理。基于此,根据方向余弦矩阵的物理意义,提出了一种基于正交基构建的直接解析式对准方法。方法在静基座下利用观测量直接建立东北天轴系在载体系下的投影单位矢量,以此建立正交姿态阵。分析并论证了该方法与传统方法在解析关系及误差特性上的统一性,仿真实验与IMU数据解算实验均验证了方法与传统解析方法精度相当,但解算未利用纬度信息,且无需正交化,具有较强的工程实用性。
The traditional analytic alignment is derived from attitude determination with double-vectors,which requires accurate latitude aiding when reference vector model is building,and orthogonalization is necessary after calculating. For this issue,a direct analytic alignment method is proposed,which is based on establishment of orthonormal basis. Under static base,firstly,the projection of ENU axis vector on body frame can be built via gyro and accelerometer measurements,then,the orthonormal attitude matrix is built.The uniform relationship between traditional and new method is analyzed and proved,the simulation and IMU data test testified that the new method has the equivalent alignment precision compared with traditional method,but calculation is proceeded without aided latitude and orthonormal process.
The traditional analytic alignment is derived from attitude determination with double-vectors,which requires accurate latitude aiding when reference vector model is building,and orthogonalization is necessary after calculating. For this issue,a direct analytic alignment method is proposed,which is based on establishment of orthonormal basis. Under static base,firstly,the projection of ENU axis vector on body frame can be built via gyro and accelerometer measurements,then,the orthonormal attitude matrix is built.The uniform relationship between traditional and new method is analyzed and proved,the simulation and IMU data test testified that the new method has the equivalent alignment precision compared with traditional method,but calculation is proceeded without aided latitude and orthonormal process.
引文
[1]茹书山,赵忠华.基于逆向算法的捷联罗经快速对准技术研究[J].电子测量技术,2011,34(1):234-237.(Ru Shushan,Zhao Zhonghua.Study on Fast Alignmentmethod of Strapdown Gyrocompass Based on Converse Algorithm[J].Electronic Measurement Technology,2011,34(1):234-237.)
[2]高薪,卞鸿巍,傅中泽,等.捷联惯导晃动基座四元数估计对准算法[J].惯性技术学报,2014,22(6):724-728.(Gao Xin,Bian Hongwei,Fu Zhongze,et al.Alignment Algorithm Based on Quaternion Estimator for SINS on Rocking Base[J].Journal of Chinese Inertial Technology,2014,22(6):724-728.)
[3]Wu Y,Pan X.Optimization-based in-flight Alignment for Airborne INS/GPS Applications[C]://Proc.IGNSS Symp.Sydney,Australia,2011.
[4]秦永元,严恭敏,顾冬晴,郑吉兵.摇摆基座上基于信息的捷联惯导粗对准研究[J].西北工业大学学报,2005,23(5):681-683.(Qin Yongyuan,Yan Gongmin,Gu Dongqing,Zheng Jibing.A Clever Way of SINS Coarse Alignment Despite Rocking Ship[J].Journal of Northwestern Polytechnical University,2005,23(5):681-683.)
[5]陈令刚,刘建业,孙永荣,等.微小型捷联惯导系统解析式对准方法研究[J].航天控制,2005,23(4):9-12.(Chen Linggang,Liu Jianye,Sun Yongrong,et al.Study of Analytic Coarse Alignment Methods to Micro SINS[J].Aerospace Control,2005,23(4):9-12.)
[6]严恭敏,严卫生,徐德民,等.纬度未知条件下捷联惯导系统初始对准分析[J].航天控制,2008,26(2):31-34.(Yan G M,Yan W S,Xu D M,et al.SINS Initial Aligment Analysis Under Geographic Latitude Uncertainty[J].Aerospace Control,2008,26(2):31-34.)
[7]魏春岭,张洪钺.捷联惯导系统粗对准方法比较[J].航天控制,2000,18(3):16-21.(Wei Chunling,Zhang Hongyue.Comparison of Analytic Coarse Alignment Methods[J].Aerospace Control,2000,18(3):16-21.
[8]Error Analysis of Analytic Coarse Alignment Methods[J].IEEE Trans on Aerospace and Electronic Systems1998,34(1):334-337.
[2]高薪,卞鸿巍,傅中泽,等.捷联惯导晃动基座四元数估计对准算法[J].惯性技术学报,2014,22(6):724-728.(Gao Xin,Bian Hongwei,Fu Zhongze,et al.Alignment Algorithm Based on Quaternion Estimator for SINS on Rocking Base[J].Journal of Chinese Inertial Technology,2014,22(6):724-728.)
[3]Wu Y,Pan X.Optimization-based in-flight Alignment for Airborne INS/GPS Applications[C]://Proc.IGNSS Symp.Sydney,Australia,2011.
[4]秦永元,严恭敏,顾冬晴,郑吉兵.摇摆基座上基于信息的捷联惯导粗对准研究[J].西北工业大学学报,2005,23(5):681-683.(Qin Yongyuan,Yan Gongmin,Gu Dongqing,Zheng Jibing.A Clever Way of SINS Coarse Alignment Despite Rocking Ship[J].Journal of Northwestern Polytechnical University,2005,23(5):681-683.)
[5]陈令刚,刘建业,孙永荣,等.微小型捷联惯导系统解析式对准方法研究[J].航天控制,2005,23(4):9-12.(Chen Linggang,Liu Jianye,Sun Yongrong,et al.Study of Analytic Coarse Alignment Methods to Micro SINS[J].Aerospace Control,2005,23(4):9-12.)
[6]严恭敏,严卫生,徐德民,等.纬度未知条件下捷联惯导系统初始对准分析[J].航天控制,2008,26(2):31-34.(Yan G M,Yan W S,Xu D M,et al.SINS Initial Aligment Analysis Under Geographic Latitude Uncertainty[J].Aerospace Control,2008,26(2):31-34.)
[7]魏春岭,张洪钺.捷联惯导系统粗对准方法比较[J].航天控制,2000,18(3):16-21.(Wei Chunling,Zhang Hongyue.Comparison of Analytic Coarse Alignment Methods[J].Aerospace Control,2000,18(3):16-21.
[8]Error Analysis of Analytic Coarse Alignment Methods[J].IEEE Trans on Aerospace and Electronic Systems1998,34(1):334-337.