摘要
针对捷联惯导晃动基座下的初始对准问题,提出了一种基于四元数估计(QUEST)的抗干扰对准算法。将惯性系对准方法中,求取初始姿态阵的问题转化为基于观测矢量确定载体姿态的Wahba问题,利用四元数估计算法得到最小二乘意义下载体初始姿态的最优四元数解。阐述了四元数估计算法的基本原理,详细给出了基于四元数估计算法的捷联惯导晃动基座对准方案。进行了车载实验,实验结果表明:四元数估计对准算法姿态角误差的收敛速度优于双矢量定姿对准算法,同时可进一步提高对准精度。经120 s对准后,水平姿态误差在5″以内,航向误差在1.3′以内。
An alignment algorithm based on quaternion estimation(QUEST) is introduced to solve the alignment problem of SINS on rocking base. The solution of initial attitude matrix is transferred into a Wahba problem, i.e. determining the attitude from vector observations. The quaternion estimation algorithm is employed to estimate the optimized initial attitude-quaternion in the least-squares sense. The basic principle of quaternion estimation is given, and the solution of a quaternion estimation alignment algorithm for SINS on rocking base is presented. The results of vehicle tests show that the quaternion estimation algorithm can achieve faster convergence speed, compared with the alignment algorithm based on the double-vector attitude determination theory. Furthermore, the attitude accuracy is further improved, and the errors of horizontal attitude and the heading error are within 5″ and 1.3′ respectively in 120 s by using the quaternion estimation algorithm.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2014年第6期724-727,740,共5页
Journal of Chinese Inertial Technology
基金
航空科学基金资助项目(920120816001)
