捷联惯导系统方位失准角对准技术研究

摘要

研究低成本捷联惯导系统中静基座方位失准角对准问题.传统采用的MIMU精度较低,误差模型的非线性化.为改善方位失准角的对准精度,提出了一种UPF方法的方位失准角对准方法.建立了关于磁强计辅助MIMU的粗对准模型,并将磁强计辅助完成粗对准的方位角偏差引入精对准的线性和非线性误差模型之中,给出了一种简化的UPF递推算法,对比了不同误差模型下的三种滤波方法的效果.仿真结果表明,无论是线性还是非线性误差模型下,UPF都获得了比KF和UKF更优的对准精度和收敛性,具有重要理论意义和应用参考价值.%This paper presented a research for the azimuth error alignment of Strapdown Inertial Navigation System ( SINS) on stationary base. The accuracy of MIMU is relatively poor and the error model is nonlinear. To improve the estimation accuracy of the azimuth error alignment, a method of the azimuth error alignment based on Unscented Particle Filter(UPF) was proposed. This paper created the coarse alignment model of the MIMU assisted by the magnetometer, and presented the linear error model and the nonlinear one of fine alignment through the introduction of the azimuth error of the coarse alignment assisted by magnetometer. The simplified UPF recursive algorithm was presented , and three kinds of filter methods were compared for the effects under different error models. The simulation results demonstrate that, no matter under the linear error model or the nonlinear one, the UPF is more superior in alignment precision and time than the KF and UKF, and has important theoretical significance and certain application reference value.