预览加载中，请您耐心等待几秒...

多渐消因子Kalman滤波器在SINS初始对准中的应用(英文).docx

预览
1/4
2/4
3/4
4/4

在线预览结束，喜欢就下载吧，查找使用更方便

下载提示 文本预览

如果您无法下载资料，请参考说明：

1、部分资料下载需要金币，请确保您的账户上有足够的金币

2、已购买过的文档，再次下载不重复扣费

3、资料包下载后请先用软件解压，在使用对应软件打开

多渐消因子Kalman滤波器在SINS初始对准中的应用(英文) Abstract TheinitialalignmentofSINS(strapdowninertialnavigationsystem)isafundamentalprocessinthenavigationsystem.AsacriticalcomponentoftheSINSinitialalignment,theKalmanfilterhasbeenwidelyusedduetoitsremarkableperformanceinreducingmeasurementnoiseandestimationerrors.However,traditionalKalmanfiltersuffersfromtheissueofdivergenceunderhighdynamicconditions.Toaddressthisproblem,themulti-fadingfactorKalmanfilter(MFFKF)isproposedinthispaper.TheMFFKFcaneffectivelyeliminatetheinfluenceofhighdynamicconditionsontheSINSinitialalignment.ThesimulationresultsshowthattheproposedMFFKFcontributestoanaccurateandrobustSINSinitialalignment. Introduction TheSINSisanessentialnavigationsysteminwhichaccelerometersandgyroscopesareusedtomeasuretheinertialmotionoftheplatformtoprovidenavigationparameterssuchasposition,velocity,andattitudeangles.TheSINSconsistsoftwostages:initializationandalignmentstageandnavigationstage.Theinitializationandalignmentstageistoaligntheinitialattitudeangles,gyroandaccelerometererrors,whilethenavigationstageistotrackandstoretheSINSoutputparametersandcorrecttheerrorscausedbytheinputandtheenvironment.TheSINSshouldbeaccuratelyandreliablyalignedbeforestartingnavigation.Otherwise,theSINSoutputparameterswillbeunreliable. TheinitialalignmentoftheSINSisnecessarytodeterminetheinitialattitudeangles,gyroandaccelerometererrors.ItisacriticalprocessintheSINS,anditsaccuracyandreliabilitydirectlyaffecttheaccuracyofnavigationresults.Therefore,itisnecessarytominimizetheerrorsduringtheinitialalignmentprocess. ThetraditionalKalmanfilteriswidelyusedintheSINSinitialalignmentbecauseofitshighaccuracyandreliability.However,underhighdynamicconditions,thetraditionalKalmanfiltermaydiverge,resultinginunsatisfactoryalignmentresults.Therefore,itisnecessarytofurtherexploretheimprovementoftheKalmanfiltertosolvethedivergenceproblem. Inthispaper,themulti-fadingfactorKalmanfilterisproposedtoaddressthedivergenceproblemofthetraditionalKalmanfilter.TheMFFKFcaneffectivelyeli