摘要
在单轴旋转惯性导航系统中,旋转轴不正交误差对于水平方向上的姿态角会产生一定的影响。针对传统最小二乘拟合估计旋转轴不正交角存在拟合近似误差大、未考虑到数据的统计特性等缺陷,提出一种基于Kalman滤波的水平姿态角误差修正方法。在传统方案的基础上,增加以加速度计的输出作为观测量,并采用带有确定性控制项的Kalman滤波方法估计旋转轴不正交角,进而修正转轴不正交误差。仿真实验结果表明,转轴不正交角较大时,该方案将水平姿态角误差峰峰值从传统的最小二乘拟合修正方案的50''进一步降低至10''以内,精度提升了约80%。实际试验结果表明该方案相比于传统的最小二乘拟合修正方案,提升了水平姿态角精度。
The non-orthogonal angle of the single-axis rotational inertial navigation system can cause the attitude angle errors in horizontal plane. Aiming at the shortages that traditional least square method would bring out large approximation error when estimating the non-orthogonal angle of rotational axis and doesn’t consider the data’s statistic characteristics, a new correction method based on Kalman filter is introduced. On the basis of the traditional error model, the proposed method adds the accelerometer output as the observation,and then estimates the rotating-axis non-orthogonal angle and corrects the rotating-axis non-orthogonal error.Simulations results demonstrate that, with the new correction method, the horizontal attitude angles are reduced to 10″ from 50″, and the accuracy is improved by about 80%, which show that the precision of horizontal attitude angle is improved by the proposed method.
作者
缪玲娟
龚斐
邵海俊
周志强
MIAO Lingjuan;GONG Fei;SHAO Haijun;ZHOU Zhiqiang(School of Automation,Beijing Institute of Technology,Beijing 100081,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第1期8-14,共7页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(61473039)
