基于非线性最小二乘法的姿态优化算法

摘要

在无陀螺捷联惯导系统中,在一种适合高自旋弹丸运动姿态测试的十二加速度计配置方案下,针对由十二加速度计的输出直接解算出角速度的方法中没考虑加速度计的安装误差问题,提出一种提高角速度解算精度的优化算法.该方法基于非线性最小二乘法从姿态角的一组初值出发开始在每一点处进行线性替代的迭代计算,搜索出满足极值点必要条件的最优角速度,从而实现对姿态角的优化解算.实验证明:该方法能有效抑制安装误差,精度高,是可行的.%In the gyroscope-free strap-down inertial navigation system, the angular velocity could be calculated directly by the output of accelerometer, but it did not consider the installation errors of accelerometer.Based on a twelve-accelerometer configuration which applied for high-speed projectile attitude measurement,an optimization algorithm was proposed.The method based on nonlinear least squares could iteratively calculate the optimal angular velocity which met the necessary conditions for extreme points from a group of attitude angles' initial value,and the iterative calculation proceeded linear substitution at each point.The optimization algorithm could improve attitude angular calculation precision.The experiments result indicated that the method could suppress installation errors effectively,and of high precision and feasibility.