Initial alignment method of large azimuth misalignment angle of strapdown inertial navigation system based on RBCKF (rao-black-wellised cubature kalman filter)

A strapdown inertial navigation and initial alignment technology, which is applied in the direction of navigation, measuring devices, instruments, etc. through velocity/acceleration measurement, which can solve the problems of inability to apply EKF filtering, low accuracy of filtering methods, and easy divergence.

Inactive Publication Date: 2013-10-09
HARBIN ENG UNIV
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Problems solved by technology

[0006] The present invention is to solve the problem that when the nonlinearity of the system is strong, the accuracy of the filtering method is low, and it is easy to diverge, and even...

Method used

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  • Initial alignment method of large azimuth misalignment angle of strapdown inertial navigation system based on RBCKF (rao-black-wellised cubature kalman filter)
  • Initial alignment method of large azimuth misalignment angle of strapdown inertial navigation system based on RBCKF (rao-black-wellised cubature kalman filter)
  • Initial alignment method of large azimuth misalignment angle of strapdown inertial navigation system based on RBCKF (rao-black-wellised cubature kalman filter)

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specific Embodiment approach 1

[0033] Specific implementation mode one: the initial alignment method of the large azimuth misalignment angle of the strapdown inertial navigation system based on RBCKF of the present embodiment is realized according to the following steps:

[0034] Step 1. According to the error characteristics of the strapdown inertial navigation system, the error model of the initial alignment of the large azimuth misalignment angle is established, that is, the state equation and the measurement equation;

[0035] Step 2. Select the initial filter value:

[0036] make with where x 0 is the initial value of the state variable, P 0 is the initial error covariance matrix of the state variable;

[0037] Step 3. According to the mean value of the state variable at the current moment and state error covariance matrix P k|k-1 To calculate the Cubature point set: χ i = [ x ^ ...

specific Embodiment approach 2

[0055] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in step 1, the error model for the initial alignment of large azimuth misalignment angles is established as follows:

[0056] Velocity errors in the east and north directions in the initial alignment of a general static base with a large azimuth misalignment angle And the misalignment angle φ in three directions x , φ y and φ z is a state variable, that is, Therefore, the state equation of the initial alignment of its static base is as follows:

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[0067] in, is the local latitude; ω ie is the earth's rotation angular velocity; with is the gyro drift in three axes; with is the acceleration zero bias of the three axes; f x , f y and f z is the projection of the scaled output value of the accelerometer on the computational geography system; C ...

specific Embodiment approach 3

[0070] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: the calculation of the Cubature point set in step three is specifically:

[0071] Decompose the square root of the error covariance matrix, and then select the Cubature point set, that is χ i = [ x ^ k - 1 | k - 1 , x ^ k - 1 | k - 1 + n * P k - 1 | k - ...

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Abstract

The invention discloses an initial alignment method of a large azimuth misalignment angle of a strapdown inertial navigation system based on an RBCKF (rao-black-wellised cubature kalman filter), relates to the initial alignment method of the large azimuth misalignment angle of the strapdown inertial navigation system, and aims at solving the problems that the accuracy of the filtering method is low and easily diffused when the nonlinearity of the system is strong, and even EKF (exend kalman filter) filtering cannot be applied when the system is not continuous. The method comprises the following steps of: 1, building an error model for initial alignment of the large azimuth misalignment angle; 2, selecting an initial filtering value; 3, calculating a Cubature point set; 4, updating the time of a state variable and a measurement stable; and 5, updating a measurement equation. The initial alignment method is applied to the field of initial alignment of strapdown inertial navigation under the large azimuth misalignment angle.

Description

technical field [0001] The invention relates to a large azimuth misalignment angle initial alignment method of a strapdown inertial navigation system. Background technique [0002] The purpose of filtering (that is, state estimation) is a process of estimating the state vector through the measurement of quantities containing noise according to certain methods and criteria. From the classical Kalman filtering at the beginning to various forms of nonlinear filtering, after decades of development, filtering technology has become a research hotspot in all walks of life. For filtering, stability, precision and convergence speed are common concerns. [0003] Strapdown inertial navigation system (English full name: Strapdown inertial navigation system, referred to as SINS), inertial navigation mainly uses inertial sensitive devices (including gyroscopes and accelerometers) to measure the angular motion and linear motion of the carrier relative to the inertial space, and According...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 黄平程广舟高伟王伟吴磊袁顺
Owner HARBIN ENG UNIV
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