惯导滤波参数优化算法
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摘要
根据惯导误差修正过程中的滤波参数优化需求,提出了Kalman滤波初始滤波参数的优化方法,在一定的状态量、观测量和设定轨迹条件下进行了仿真实验,分析了不同初始滤波参数对滤波估计结果的影响。综合不同滤波参数条件下姿态误差的估计效果,得出了初始滤波参数的优化方法,仿真实验结果表明:相比标准初始滤波参数估计效果,采用优化后的初始滤波参数进行误差估计,方位角误差估计过程更加平稳,且在120 s内可达到较高的估计精度,相比标准初始滤波参数,提高了输出精度。
According to the optimization requirements of the filtering parameters in the inertial error correction process,the optimization method of Kalman filtering initial filtering parameters is studied. Simulation experiments are carried out under certain state quantities,observations and set trajectory conditions,and influence of different initial filtering parameters on filtering estimation result are analyzed. The effect of filtering estimation results is combined to estimation effect of attitude error under different filtering parameters. The optimizing method of the initial filter parameters is obtained. The simulation experiment results show that compared with the standard initial filtering parameter estimation effect,the optimized initial filtering parameters are used to make errors. It is estimated that the process of azimuth error estimation is more stable,and higher estimation precision can be achieved within 120 s. Compared with the standard initial filtering parameters,the output precision is improved.
According to the optimization requirements of the filtering parameters in the inertial error correction process,the optimization method of Kalman filtering initial filtering parameters is studied. Simulation experiments are carried out under certain state quantities,observations and set trajectory conditions,and influence of different initial filtering parameters on filtering estimation result are analyzed. The effect of filtering estimation results is combined to estimation effect of attitude error under different filtering parameters. The optimizing method of the initial filter parameters is obtained. The simulation experiment results show that compared with the standard initial filtering parameter estimation effect,the optimized initial filtering parameters are used to make errors. It is estimated that the process of azimuth error estimation is more stable,and higher estimation precision can be achieved within 120 s. Compared with the standard initial filtering parameters,the output precision is improved.
引文
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[2] ZHANG H M,MENG X K,ZHAO J H. Study on underwater synthetic navigation system based on inertial navigation system and multibeam bathymetric system[C]∥ICEMI 2009:237-241.
[3] QU P P,FU L,ZHAO X. Design of inertial navigation system based on micromechanical gyroscope and accelerometer[C]∥2009 Chinese Control and Decision Conference,2009:1351-1354.
[4] WU M P,WU Y X,HU X P,et al. Optimization-based alignment for inertial navigation systems:Theory and algorithm[J]. Aerospace Science and Technology,2011,15:1-17.
[5] LU S L,XIE L,CHEN J B. New techniques for initial alignment of strapdown inertial navigation system[J]. Journal of the Franklin Institute,2009,346:1021-1037.
[6] WAGNER J F,WIENEKE T. Integrating satellite and inertial navigation-conventional and new fusion approaches[J]. Control Engineering Practice,2008,11:543-550.
[7] YANG D F,WANG S C,LI H B,et al. Performance enhancement of large-ship transfer alignment:A moving horizon approach[J].The Journal of Navigation,2013,66:17-33.
[8] ALI JAMSHAID,RASHEEQ M,Mirza Ullah Baig. Initial orientation of inertial navigation system realized through modeling and filtering[J]. Measurement,2011,44:793-801.
[9] ALI JAMSHAID,Ushaq Muhammad. A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system[J]. Measurement,2009,42:577-582.
[10] PEHLIVANOGU A G,ERCAN Y. Investigation of flexure effect on transfer alignment performance[J]. The Journal of Navigation,2013,66:1-15.
[11] JWO DAH-JING,LAI SHIH-YAO. Navigation integration using the fuzzy strong tracking Kalman filter[J]. The Journal of Navigation,2009,62:303-322.
[12] GROVES P D. Optimising the transfer alignment of weapon INS[J]. The Journal of Navigation,2010,63:323-335.
[13] QIN H L,LI C,SUN X L. Accuracy improvement of GPS/MEMSINS integrated navigation system during GPS signal outage for land vehicle navigation[J]. Journal of Systems Engineering and Electronics,2012,23(2):256-264.