基于边缘采样的简化高阶CKF在非线性快速传递对准中的应用
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摘要
针对舰载机惯导系统非线性传递对准问题中误差模型不完善的问题,同时考虑了挠曲运动和动态杆臂的影响,提出了一种新的适用于大方位失准角情形下的挠曲变形和杆臂效应加速度一体化误差模型。采用高阶容积卡尔曼滤波(HCKF)算法对状态进行滤波估计,考虑到HCKF具有较大的计算量,分析了传递对准模型的状态方程与量测方程结构,设计了一种基于边缘采样的简化高阶容积卡尔曼滤波(M-RHCKF)算法,其在时间更新中使用边缘采样算法,在量测更新过程中使用简化量测更新过程,并给出了该算法的证明过程。采用"速度+姿态"组合匹配方式,对提出的误差模型进行仿真实验。结果表明,该模型可以满足对准精度和对准时间的要求,相比于未考虑动态杆臂的传递对准模型具有更高的对准精度。
To solve the imperfection of error model during nonlinear transfer alignment in the inertial navigation system for shipboard aircraft,a new incorporate acceleration error model for lever-arm effect with large azimuth misalignment is presented with the flexure of a carrier.The High-degree Cubature Kalman Filter(HCKF)is used to estimate the state variables.Considering that HCKF requires a large amount of computation,the equation of state and measurement of the transfer alignment model is analyzed and a Marqunal Reduced High-degree Cubature Kalman Filter(M-RHCKF)algorithm is designed.The marginal sampling algorithm is used in the time update process and the reduced measurement update in the measurement update process.The proof of the algorithm is also given.The velocity plus attitude matching method is used to simulate the proposed model.The simulation results demonstrate that this model can meet the requirement of precision and time in transfer alignment.The misalignment estimation has a higher accuracy than the transfer alignment model without considering the dynamic lever-arm.
To solve the imperfection of error model during nonlinear transfer alignment in the inertial navigation system for shipboard aircraft,a new incorporate acceleration error model for lever-arm effect with large azimuth misalignment is presented with the flexure of a carrier.The High-degree Cubature Kalman Filter(HCKF)is used to estimate the state variables.Considering that HCKF requires a large amount of computation,the equation of state and measurement of the transfer alignment model is analyzed and a Marqunal Reduced High-degree Cubature Kalman Filter(M-RHCKF)algorithm is designed.The marginal sampling algorithm is used in the time update process and the reduced measurement update in the measurement update process.The proof of the algorithm is also given.The velocity plus attitude matching method is used to simulate the proposed model.The simulation results demonstrate that this model can meet the requirement of precision and time in transfer alignment.The misalignment estimation has a higher accuracy than the transfer alignment model without considering the dynamic lever-arm.
引文
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[17]吉宇人.捷联惯导系统传递对准技术及误差补偿方法研究[D].哈尔滨:哈尔滨工程大学,2013:20-22.JI Y R.Transfer alignment and error compensation technique for strapdown inertial navigation system[D].Harbin:Harbin Engineering University,2013:20-22(in Chinese).
[18]崔乃刚,张龙,王小刚,等.自适应高阶容积卡尔曼滤波在目标跟踪中的应用[J].航空学报,2015,36(12):3885-3859.CUI N G,ZHANG L,WANG X G,et al,Application of adaptive high-degree cubature kalman filter in target tracking[J].Acta Aeronautica et Astronautica Sinica,2015,36(12):3885-3859(in Chinese).
[19]JIA B,XIN M,CHENG Y.High-degree cubature kalman filter[J].Automatica,2013,49:510-518.
[20]CHANG L B,HU B Q,LI A,et al.Strapdown inertial navigation system alignment based on marginalized unscented Kalman filter[J].IET Science,Measurement and Technology,2013,7(2):128-138.
[21]CHANG G B.Loosely coupled INS/GPS integration with constant lever arm using marginal unscented Kalman filter[J].The Journal of Navigation,2014,67:419-436.
[22]ANDERSON B D O,MOORE J B.Optimal filtering[M].New Jersey:Prentice-hall,1979.
[2]王司,邓正隆.惯导系统动基座传递对准技术综述[J].中国惯性技术学报,2003,11(2):61-67.WANG S,DENG Z L.Technique review of transfer alignment for inertial navigation systems on moving base[J].Journal of Chinese Inertial Technology,2003,11(2):61-67(in Chinese).
[3]LIU X X,XU X S,LIU Y T,et al.A fast and high-accuracy transfer alignment method between M/S INS for ship based on iterative calculation[J].Measurement,2014,51:297-309.
[4]SYED Z F,AGGARWAL P,NIU X,et al.Civilian vehicle navigation:Required alignment of the inertial sensors for acceptable navigation accuracies[J].IEEE Transactions on Vehicular Technology,2008,57(6):3402-3412.
[5]LIM Y C,LYOU J,Transfer alignment error compensator design using H filter[C]∥American Control Conference,2002:1460-1465.
[6]WANG B,DENG Z H,LIU C,et al.Estimation of information sharing error by dynamic deformation between inertial navigation systems[J].IEEE Transactions on Industrial Electronics,2014,61(4):2015-2023.
[7]徐晓苏,邹海军,刘义亭,等.基于鲁棒滤波的挠曲变形和动态杆臂补偿算法[J].中国惯性技术学报,2015,23(11):9-13.XU X S,ZOU H J,LIU Y T,et al.Compensation algorithm of flexural defor mation and dynamic lever-arm based on robust filtering[J].Journal of Chinese Inertial Technology,2015,23(11):9-13(in Chinese).
[8]CAO Q,ZHONG M Y,GUO J.Non-linear estimation of the flexural lever armfor transfer alignment of airborne distributedposition and orientation system[J].IET Radar,Sonar&Navigation,2017,11(1):41-51.
[9]高青伟,赵国荣,吴芳.大方位失准角传递对准非线性模型研究[J].控制与决策,2011,26(3):402-407.GAO Q W,ZHAO G R,WU F.Research on nonlinear error model of transfer alignment with large azimuth misalignment angle[J].Control and Decision,2011,26(3):402-407(in Chinese).
[10]陈凯,鲁浩,闫杰.传递对准姿态匹配的优化算法[J].航空学报,2008,29(4):981-987.CHEN K,LU H,YAN J.Optimal algorithm of attitude matching in transfer alignment[J].Acta Aeronautica et Astronautica Sinica,2008,29(4):981-987(in Chinese).
[11]KAIN J E,CLOUTIER J R.Rapid transfer alignemt for tactical weapon applications:AIAA-1989-3581[R].Reston,VA:AIAA,1989.
[12]DING G Q,ZHOU W D,HAO Y L,et al.The impact of arm-lever effect error based large initial misalignment transfer alignment technology study[C]∥IEEE International Workshop on Intelligent Systems&Applications.Piscataway,NJ:IEEE Press;2009:1-6.
[13]WANG Y,SUN F,ZHANG Y,et al.Central difference particle filter applied to transfer alignment for sins on missiles[J].IEEE Transactions on Aerospace and Electronic Systems,2012,48(1):375-387.
[14]DING G Q,LI J G,ZHOU W D,et al.Study on iterated divided difference filtering and it’s application on ta process with large initial misalignment angle[C]∥2010Third International Conference on Information and Computing,2010:243-247.
[15]高青伟,赵国荣,王希彬,等.传递对准中载舰挠曲变形和杆臂效应一体化建模与仿真[J].航空学报,2009,30(11):2172-2177.GAO Q W,ZHAO G R,WANG X B,et al.Incorporate modeling and simulation of transfer alignment with flexure of carrier and lever arm effect[J].Acta Aeronautica et Astronautica Sinica,2009,30(11):2172-2177(in Chinese).
[16]魏学通,高磊.大方位失准角下舰载机快速传递对准技术[J].中国惯性技术学报,2012,20(5):552-556.WEI X T,GAO L.Transfer alignment of carrier-born aircraft under large azimuth misalignment angle[J].Journal of Chinese Inertial Technology,2012,20(5):552-556(in Chinese).
[17]吉宇人.捷联惯导系统传递对准技术及误差补偿方法研究[D].哈尔滨:哈尔滨工程大学,2013:20-22.JI Y R.Transfer alignment and error compensation technique for strapdown inertial navigation system[D].Harbin:Harbin Engineering University,2013:20-22(in Chinese).
[18]崔乃刚,张龙,王小刚,等.自适应高阶容积卡尔曼滤波在目标跟踪中的应用[J].航空学报,2015,36(12):3885-3859.CUI N G,ZHANG L,WANG X G,et al,Application of adaptive high-degree cubature kalman filter in target tracking[J].Acta Aeronautica et Astronautica Sinica,2015,36(12):3885-3859(in Chinese).
[19]JIA B,XIN M,CHENG Y.High-degree cubature kalman filter[J].Automatica,2013,49:510-518.
[20]CHANG L B,HU B Q,LI A,et al.Strapdown inertial navigation system alignment based on marginalized unscented Kalman filter[J].IET Science,Measurement and Technology,2013,7(2):128-138.
[21]CHANG G B.Loosely coupled INS/GPS integration with constant lever arm using marginal unscented Kalman filter[J].The Journal of Navigation,2014,67:419-436.
[22]ANDERSON B D O,MOORE J B.Optimal filtering[M].New Jersey:Prentice-hall,1979.