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...

对偶四元数捷联惯性导航系统初始对准方法

Keywords: 捷联惯性导航系统,对偶四元数,初始对准,卡尔曼滤波

Full-Text   Cite this paper   Add to My Lib

Abstract:

采用对偶四元数将捷联惯性导航系统坐标系间的转动和平移统一考虑,以降低初始对准的模型复杂度和计算复杂性.给出了对偶四元数捷联惯性导航系统初始对准过程的粗对准模型,在此基础上,分别获得了基于加性和乘性对偶四元数误差的精对准模型.以航向角估计为例进行仿真分析,结果表明,采用该方法的收敛速度比传统方法加快了约40%,对准精度提高约0.01°.

References

[1]  Wu Y X, Hu X P, Hu D W, et al. Strapdown inertial navigation system algorithms based on dual quaternions[J]. IEEE Transactions on Aerospace and Electronic Systems, 2005,41(1):110-132.
[2]  Wu Y X, Hu X P, Wu M P, et al. Strapdown inertial navigation using dual quaternion algebra:error analysis[J]. IEEE Transactions on Aerospace and Electronic Systems, 2006,42(1):259-266.
[3]  Hung J C, White H V. Self-alignment techniques for inertial measurement units[J]. IEEE Transactions on Aerospace and Electronic Systems, 1975,11(6):1232-1247.
[4]  Bar-Itzhack I Y. Unified approach to inertial navigation system error modeling[J]. Journal of Guidance, Control, and Dynamics, 1992,15(3):648-653.
[5]  Goshen-Meskin D, Bar-Itzhack I Y. Observability analysis of piece-wise constant systems-part I:theory[J]. IEEE Transactions on Aerospace and Electronic Systems, 1992,28(4):1056-1067.
[6]  Goshen-Meskin D, Bar-Itzhack I Y. Observability analysis of piece-wise constant systems, part Ⅱ:application to inertial navigation in-flight alignment[J]. IEEE Transactions on Aerospace and Electronic Systems, 1992,28(4):1068-1075.
[7]  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)
[8]  刘延柱.关于刚体姿态的数学表达[J].力学与实践,2008,30(1):98-101. Liu Yanzhu. A study on rigid-body mathematical representations[J]. Mechanics in Engineering, 2008,30(1):98-101. (in Chinese)
[9]  Nautiyal A. Algorithm to generate geodetic coordinates from earth-centered earth-fixed coordinates[J]. Journal of Guidance, Control, and Dynamics, 1988,11(3):281-283.
[10]  Titterton D H, Weston J L. Strapdown inertial navigation technology[M]. 2nd ed. [S.l.]:American Institute of Aeronautics and Astronautics, 2004.
[11]  尾形克彦.离散时间控制系统[M].2版.陈杰,蔡涛,张娟,译.北京:机械工业出版社,2006. Katsuhiko O. Discrete-time control system[M]. 2nd ed. Chen Jie, Cai Tao, Zhang Juan, transl. Beijing:China Machine Press, 2006. (in Chinese)
[12]  Jiang Y F, Lin Y P. Improved strapdown coning algorithms [J]. IEEE Transactions on Aerospace and Electronic Systems, 1992,28(2):484-490.
[13]  Lee J G, Park C G, Park H W. Multiposition alignment of strapdown inertial navigation system[J]. IEEE Transactions on Aerospace and Electronic Systems, 1993,29(4):1323-1328.
[14]  任明荣.提高定向系统及初始对准精度的研究.北京:北京理工大学自动化学院, 2005. Ren Mingrong. Research on improving of direction system and initial alignment precision. Beijing:School of Automation, Beijing Institute of Technology, 2005. (in Chinese)
[15]  严恭敏,秦永元,卫育新,等.一种适用于SINS动基座初始对准的新算法[J].系统工程与电子技术,2009,31(3):634-637. Yan Gongmin, Qin Yongyuan, Wei Yuxin, et al. New initial alignment for SINS on moving base[J]. Systems Engineering and Electronics, 2009,31(3):634-637. (in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133