EKF和SUKF在大摇摆基座初始对准中的应用

摘要

Simplified nonlinear navigation error models under large misalignment angles are deduced and nonlinear SUKF and EKF for initial alignment on great-swing base are designed,which effectively solves the problem that the traditional analytical coarse alignment algorithm can not accomplish initial alignment in swinging circumstance.After roughly binding initial attitudes,these two kinds of nonlinear filters achieve accurate alignment directly without any coarse alignment procedure.Finally,simulations under ship-mooring swinging circumstance are conducted to verify the effectiveness of the algorithms and alignment results are compared.The results show that the alignment precisions of the two nonlinear filters are quite same.Considering the computational complexity,the EKF algorithm has much better practicability.%通过在SINS解算过程中加入速度和位置阻尼信息,推导了惯导系统在大失准角情况下的简化非线性误差模型,研究了非线性SUKF和EKF滤波器在大幅度摇摆基座初始对准中的适用性,有效解决了传统解析式粗对准算法不能应用于大幅摇摆基座自主初始对准的问题.两种非线性滤波器在系统粗略装订初始姿态的情况下,可以不经过粗对准过程直接实现系统的精确对准.最后以舰船系泊条件下的大幅摇摆基座为仿真环境,仿真验证了两种非线性滤波对准算法的有效性,并比较了两种算法的对准精度.结果表明两种非线性滤波器的对准精度相当,从计算复杂度的角度考虑,EKF算法有更强的实用性.