基于旋转矢量误差模型的舰载机大失准角传递对准技术

摘要

为实现舰载机大方位失准角条件下的快速传递对准,提出采用旋转矢量误差模型.分别推导了速度匹配和速度加角速度匹配的量测模型.为解决非线性滤波器的稳定性和快速性,提出采用平方根无迹卡尔曼滤波SRUKF来估计失准角.仿真结果表明,旋转矢量误差模型相对于非线性的欧拉角误差模型有更高的估计精度.在海况引起的摇摆运动下,运用速度加角速度匹配方法可以在50 s内完成对准,此时水平精度达到20"以内,航向精度达到1'以内.由此表明所提出的算法可以满足舰载机传递对准快速性和精确性的要求.%To realize the rapid alignment of the shipbome aircrafts with large initial heading error,a rotation vector error (RVE) model is deduced.The velocity matching and the velocity plus angular rate matching methods are respectively applied to implement the transfer alignment algorithm.In view of the stability and rapidity of nonlinear filter,a square-root unscented Kalman filter is used to estimate the attitude misalignment.Simulation results shows that the rotation vector error model has higher accuracy compared with the nonlinear phi angle model,and by using the velocity plus angular rate matching method,the transfer alignment of shipbome aircraft inertial navigation system can be accomplished in 50 s,and the horizontal and heading precisions are within 20" and 1',respectively.These show that the proposed algorithm can meet the rapidity and accuracy requirements of the transfer alignment.