全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于QCKF的大失准角快速传递对准

, PP. 1624-1628

Full-Text   Cite this paper   Add to My Lib

Abstract:

提出了一种机载武器捷联惯导系统大失准角情况下快速传递对准QCKF(QuaternionCubatureKalmanFilter)算法.采用乘性四元数表示失准角,建立了基于四元数的速度加姿态匹配传递对准模型.将噪声扩维为状态思想应用到CKF(CubatureKalmanFilter)中以解决非线性过程噪声和量测噪声问题.考虑到表示旋转的四元数具有规范化以及符号相反的四元数表示相同旋转的性质,对CKF算法中关于四元数部分加权求均值转变为约束条件下基于投影长度的加权求均值,对CKF算法中关于四元数部分求方差进行符号预处理.仿真结果表明算法能在大失准角情况下提高对准精度.

References

[1]  Julier S J, Uhlmann J K.Unscented filtering and nonlinear estimation[J].Proceedings of the IEEE, 2004, 92(3):401-422
[2]  Julier S J, Uhlmann J K.Unscented filtering and nonlinear estimation[J].Proceedings of the IEEE, 2004, 92(3):401-422
[3]  Sun Feng, Tang Lijun.Augmented and nonaugmented cubature Kalman filter[J].Journal of Information & Computational Science, 2012, 9(2):437-450
[4]  Sun Feng, Tang Lijun.Augmented and nonaugmented cubature Kalman filter[J].Journal of Information & Computational Science, 2012, 9(2):437-450
[5]  Markley F L, Cheng Y, Crassidis J L, et al.Quaternion averaging[J].Journal of Guidance, Control, and Dynamics, 2007, 30(4):1193-1197
[6]  Markley F L, Cheng Y, Crassidis J L, et al.Quaternion averaging[J].Journal of Guidance, Control, and Dynamics, 2007, 30(4):1193-1197
[7]  Kain J E, Cloutier J R.Rapid transfer alignment for tactical weapon applications[C]//Proceedings of the AIAA Guidance, Navigation and Control Conference.Boston:MA, 1989:1290-1300
[8]  Kain J E, Cloutier J R.Rapid transfer alignment for tactical weapon applications[C]//Proceedings of the AIAA Guidance, Navigation and Control Conference.Boston:MA, 1989:1290-1300
[9]  Lyou J, Lim Y C.Transfer alignment considering measurement time delay and ship body flexure[J].Journal of Mechanical Science and Technology, 2009, 23(1):195-203
[10]  Lyou J, Lim Y C.Transfer alignment considering measurement time delay and ship body flexure[J].Journal of Mechanical Science and Technology, 2009, 23(1):195-203
[11]  Yu M J, Lee J G, Park H W.Comparison of SDINS in-flight alignment using equivalent error models[J].IEEE Transactions on Aerospace and Electronic Systems, 1999, 35(3):1046-1053
[12]  Yu M J, Lee J G, Park H W.Comparison of SDINS in-flight alignment using equivalent error models[J].IEEE Transactions on Aerospace and Electronic Systems, 1999, 35(3):1046-1053
[13]  Groves P D.Optimising the transfer alignment of weapon INS[J].The Journal of Navigation, 2003, 56(2):323-335
[14]  韩英宏, 陈万春.新型快速传递对准方法[J].北京航空航天大学学报, 2012, 38(2):149-152 Han Yinghong, Chen Wanchun.New method for rapid transfer alignment[J].Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(2):149-152(in Chinese)
[15]  Groves P D.Optimising the transfer alignment of weapon INS[J].The Journal of Navigation, 2003, 56(2):323-335
[16]  韩英宏, 陈万春.新型快速传递对准方法[J].北京航空航天大学学报, 2012, 38(2):149-152 Han Yinghong, Chen Wanchun.New method for rapid transfer alignment[J].Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(2):149-152(in Chinese)
[17]  高青伟, 赵国荣, 吴芳.大方位失准角传递对准非线性模型研究[J].控制与决策, 2011, 26(3):402-406 Gao Qingwei, Zhao Guorong, Wu Fang.Research on nonlinear error model of transfer alignment with large azimuth misalignment angle[J].Control and Decision, 2011, 26(3):402-406(in Chinese)
[18]  高青伟, 赵国荣, 吴芳.大方位失准角传递对准非线性模型研究[J].控制与决策, 2011, 26(3):402-406 Gao Qingwei, Zhao Guorong, Wu Fang.Research on nonlinear error model of transfer alignment with large azimuth misalignment angle[J].Control and Decision, 2011, 26(3):402-406(in Chinese)
[19]  孙枫, 唐李军.基于CKF的SINS大方位失准角初始对准[J].仪器仪表学报, 2012, 33(2):327-333 Sun Feng, Tang Lijun.Initial alignment of large azimuth misalignment angle in SINS based on CKF[J].Chinese Journal of Scientific Instrument, 2012, 33(2):327-333(in Chinese)
[20]  孙枫, 唐李军.基于CKF的SINS大方位失准角初始对准[J].仪器仪表学报, 2012, 33(2):327-333 Sun Feng, Tang Lijun.Initial alignment of large azimuth misalignment angle in SINS based on CKF[J].Chinese Journal of Scientific Instrument, 2012, 33(2):327-333(in Chinese)
[21]  熊芝兰, 郝燕玲, 孙枫.基于四元数的惯导系统快速匹配对准算法[J].哈尔滨工程大学学报, 2008, 29(1):28-34 Xiong Zhilan, Hao Yanling, Sun Feng.Rapid matching alignment algorithm of inertial navigation system based on quaternion[J].Journal of Harbin Engineering University, 2008, 29(1):28-34(in Chinese)
[22]  熊芝兰, 郝燕玲, 孙枫.基于四元数的惯导系统快速匹配对准算法[J].哈尔滨工程大学学报, 2008, 29(1):28-34 Xiong Zhilan, Hao Yanling, Sun Feng.Rapid matching alignment algorithm of inertial navigation system based on quaternion[J].Journal of Harbin Engineering University, 2008, 29(1):28-34(in Chinese)
[23]  周卫东, 吉宇人, 乔相伟.四元数扩维无迹卡尔曼滤波算法及其在大失准角快速传递对准中的应用[J].控制理论与应用.2011, 28(11):1583-1588 Zhou Weidong, Ji Yuren, Qiao Xiangwei.Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment[J].Control Theory & Applications, 2011, 28(11):1583-1588(in Chinese)
[24]  周卫东, 吉宇人, 乔相伟.四元数扩维无迹卡尔曼滤波算法及其在大失准角快速传递对准中的应用[J].控制理论与应用.2011, 28(11):1583-1588 Zhou Weidong, Ji Yuren, Qiao Xiangwei.Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment[J].Control Theory & Applications, 2011, 28(11):1583-1588(in Chinese)
[25]  Arasaratnam I, Haykin S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control, 2009, 54(6):1254-1269
[26]  Arasaratnam I, Haykin S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control, 2009, 54(6):1254-1269
[27]  解春明, 赵剡, 邓俊云.一种改进的自适应平方根传递对准滤波算法[J].系统工程与电子技术, 2011, 33(3):622-626 Xie Chunming, Zhao Yan, Deng Junyun.Improved adaptive square root filtering algorithm for transfer alignment[J].Systems Engineering and Electronics.2011, 33(3):622-626(in Chinese)
[28]  解春明, 赵剡, 邓俊云.一种改进的自适应平方根传递对准滤波算法[J].系统工程与电子技术, 2011, 33(3):622-626 Xie Chunming, Zhao Yan, Deng Junyun.Improved adaptive square root filtering algorithm for transfer alignment[J].Systems Engineering and Electronics.2011, 33(3):622-626(in Chinese)
[29]  秦永元.惯性导航[M].北京:科学出版社, 2006 Qin Yongyuan.Inertial navigation[M].Beijing:Science Press, 2006(in Chinese)
[30]  秦永元.惯性导航[M].北京:科学出版社, 2006 Qin Yongyuan.Inertial navigation[M].Beijing:Science Press, 2006(in Chinese)
[31]  周卫东, 乔相伟, 任蕾, 等.QUKF算法及其在SINS初始对准中的应用[J].仪器仪表学报, 2010, 31(2):264-269 Zhou Weidong, Qiao Xiangwei, Ren Lei, et al.Quaternion unscented Kalman filter and its application to initial alignment of SINS[J].Chinese Journal of Scientific Instrument, 2010, 31(2): 264-269(in Chinese)
[32]  周卫东, 乔相伟, 任蕾, 等.QUKF算法及其在SINS初始对准中的应用[J].仪器仪表学报, 2010, 31(2):264-269 Zhou Weidong, Qiao Xiangwei, Ren Lei, et al.Quaternion unscented Kalman filter and its application to initial alignment of SINS[J].Chinese Journal of Scientific Instrument, 2010, 31(2): 264-269(in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133