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Initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF)

A strapdown inertial navigation and initial alignment technology, applied in navigation calculation tools, navigation through velocity/acceleration measurement, measurement devices, etc., can solve the problems of filter numerical instability, high-order term truncation error, divergence, etc. Achieve the effect of improving alignment accuracy and self-adaptive ability, and increasing self-adaptive ability

Inactive Publication Date: 2014-02-05
HARBIN ENG UNIV
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Problems solved by technology

[0004] When the traditional nonlinear filter EKF deals with a system with strong nonlinearity, due to the truncation error of the high-order term, the filtering value will be unstable and may diverge

Method used

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  • Initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF)
  • Initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF)
  • Initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF)

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with accompanying drawing:

[0036] Such as figure 1 Shown: the present invention comprises the following steps:

[0037] (1) Use GPS to determine the initial accuracy and latitude parameters of the carrier;

[0038] (2) Collect data output by MEMS accelerometer and magnetometer;

[0039] (3) Analytical method is used to carry out the coarse alignment of the system, and the attitude matrix from the carrier coordinate system to the calculation geographic coordinate system is roughly obtained

[0040] C b c ( 0 ) = cos β 0 cos γ 0 ...

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Abstract

The invention discloses an initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF). The method comprises the following steps: determining initial position information of a carrier through a global positioning system (GPS), acquiring data which is output by an MEMS accelerometer and a magnetometer, and completing coarse alignment through an analytical method to roughly obtain a strap-down matrix; establishing a nonlinear model which is initially aligned by an MEMS-based strap-down inertial navigation system, and performing filtering initialization; performing state estimation through SCKF, and updating a system noise variance matrix according to the difference between state estimation quantity and one-time prediction state quantity during iteration at each time to improve filtering adaptive capability to indeterminacy of system noise statistical characteristics; and acquiring an attitude matrix of an accurate platform misalignment angle correction system so as to complete initial alignment. According to the initial alignment method, the initial alignment can be well completed when the constant drift of a gyroscope is large, and the filtering adaptive capability to the indeterminacy of the system noise statistical characteristics is improved.

Description

technical field [0001] The invention relates to a MEMS strapdown inertial navigation system method, in particular to an initial alignment method for MEMS strapdown inertial navigation adaptive SCKF filtering. Background technique [0002] Micromechanical electronics (MEMS) technology has gradually matured in recent years with the rapid progress of device structure, processing technology, readout circuit and interface circuit, integration and packaging technologies. Inertial measurement units (IMUs) based on MEMS technology integrate micromachined accelerometers and micromachined gyroscopes. Therefore, MEMS has the characteristics of small size, integration, low cost, low power consumption, and high reliability. The outstanding characteristics of MEMS make it have broad application prospects in many civil and military fields. [0003] Initial alignment is one of the key technologies in the strapdown inertial navigation system, and its alignment time and accuracy directly aff...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C25/005G01C21/16G01C21/20
Inventor 周广涛孙艳涛赵博郝勤顺姜鑫袁华润张天宇李佳璇于春阳张雷
Owner HARBIN ENG UNIV
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