Strap-down inertial navigation system large azimuth misalignment angle initial alignment method based on MRUPF (Multi-resolution Unscented Particle Filter)

A strapdown inertial navigation and initial alignment technology, which is used in navigation, measurement devices, instruments, etc. through velocity/acceleration measurement, and can solve problems such as large amount of calculation, long initial alignment time, and poor real-time performance.

CN101975585BInactive Publication Date: 2012-02-01BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2012-02-01
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a strap-down inertial navigation system large azimuth misalignment angle initial alignment method based on MRUPF (Multi-resolution Unscented Particle Filter), comprising the following steps of: firstly, establishing a state space model for the initial alignment of a strap-down inertial navigation system static substrate under the large azimuth misalignment angle conditionto carry out filtering initialization; then carrying out the state estimation of the initial alignment by utilizing a UPF filtering algorithm; selecting particles and particle weights by utilizing a multi-resolution method at a moment to reduce the number of the particles; and continuing to carry out the state estimation of the initial alignment by utilizing the UPF filtering method by taking theselected particle set and the particle weights as initial particle sets and the weights to obtain a misalignment angle estimated value. In the invention, the UPF particle number is reduced through the multi-resolution method, thereby reducing the calculated amount, and the real-time performance of the initial alignment of the strap-down inertial navigation system under a large azimuth misalignment angle is improved while the initial alignment accuracy is ensured. The invention is suitable for the initial alignment of the strap-down inertial navigation system.
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Description

technical field

[0001] The present invention relates to an initial alignment method for large azimuth misalignment angles of a strapdown inertial navigation system based on MRUPF (Multiresolution Unscented Particle Filter, multiresolution Unscented particle filter), which is applicable to the case of large azimuth misalignment angles where the error model is nonlinear, Initial alignment of strapdown inertial navigation on stationary base under non-Gaussian noise conditions. Background technique

[0002] The Strap-down Inertial Navigation System (SINS) uses inertial devices and initial parameters to determine all motion parameters such as the position, velocity, and attitude of the carrier. It does not rely on any external information and does not radiate outward when it works. Energy, is a fully autonomous navigation system. For the strapdown inertial navigation system, since the attitude matrix acts as a "digital platform", it is necessary to obtain the initial value of th...

Examples

Embodiment Construction

[0026] Such as figure 1 As shown, the present invention uses MRUPF nonlinear filtering to solve the initial alignment problem of the static base of the strapdown inertial navigation system under a large azimuth misalignment angle, and the specific steps are as follows:

[0027] 1. Establish the state space model of the initial alignment of the static base of the strapdown inertial navigation system with a large azimuth misalignment angle

[0028] In the strapdown inertial navigation system, the velocity and attitude angle error equations for initial alignment are:

[0029] Δ V · = ( I - C t p ) f ‾ p - δ f t - ▿ t - - ...