摘要
针对车载单轴旋转激光捷联惯导系统,提出一种抗晃动初始对准方法和零速修正方法,以满足载车快速启动和精确定位的要求。首先采用基于重力信息的粗对准方法得到初始姿态,然后在此基础上,采用惯性凝固坐标系下速度为观测量的卡尔曼滤波方法完成晃动基座精对准。初始对准完成后,采用当地地理坐标系下速度为观测量的卡尔曼滤波方法进行零速修正。数字仿真试验及跑车试验结果表明:在晃动基座上经5 min快速初始对准航向角精度与传统方法相当,对准时间仅为传统方法 50%;零速修正时间间隔20 min,停车修正5 s,跑车2 h水平定位精度与高程精度相对传统方法提高40%以上。数字仿真试验和系统跑车试验结果验证了所提出算法的可行性和有效性。
A method for anti-disturbing alignment and ZUPT is presented for vehicular single-axis rotation laser SINS to satisfy the requirement of fast start-up and precise positioning. Coarse alignment based on gravity is used to get initial attitude. Then by using velocity matching and Kalman filtering technique, an algorithm in inertial solidification frame is used to get precise initial attitude. ZUPT method based on Kalman filtering technique in local geographic frame is used to compensate the system error after initial alignment. The results of digital simulation and vehicle test show that the heading accuracy is the same as that of traditional alignment method after 5 min fast initial alignment on disturbing base, and the position accuracy with 20 min stop interval and 5 s stop time during 2 h of vehicle running is 40% higher than those of traditional ZUPT method. Feasibility and effectiveness are verified by both swing base digital simulation and actual vehicle test.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2013年第3期302-307,共6页
Journal of Chinese Inertial Technology
基金
国防科技预研项目(513A20120903)
关键词
单轴旋转
卡尔曼滤波
抗晃动初始对准
零速修正
跑车试验
single-axis rotation modulation
Kalman filtering
anti-disturbing self-alignment
zero velocityupdate
vehicle test.
