地固系下四元数和卡尔曼滤波方法的惯导初始精对准研究

基金项目: 中国科学院动力大地测量学重点实验室开放研究基金资助项目(L09-18),中国科学院知识创新工程重要方向性资助项目(kzcx2-yw-125)；国家自然科学基金资助项目

详细信息

Inertial Navigation System Fine Alignment Under ECEF Frame with Quaternion and Kalman Filter

¹ Key Laboratory of Dynamic Geodesy,Institute of Geodesy and Geophysics,Chinese Academy of Sciences, 340 Xudong Street,Wuhan 430077,China;² Graduate University of Chinese Academy of Sciences,A 19 Yuquan Road,Beijing 100049,China

摘要: 从地心地固系中卡尔曼滤波方程的推导入手,设计了一个12状态滤波器,对失准角进行估计,在地心地固坐标系中完成了惯导的初始精对准。模拟计算证明了此算法的正确性与有效性,并讨论了对准的精度。
- 惯性导航 /
- 地心地固系 /
- 精对准 /
- 卡尔曼滤波
Abstract: Inertial navigation system fine alignment based on Kalman filter is normally carried out under navigation frame.Earth-centered-earth-fixed(ECEF) frame is an important frame for combination navigation and inertial geodesy but no previous research has been shown for the fine alignment under this frame.Beginsing from mathematical deduction of a 12-states Kalman filter equation under ECEF frame,we estimate the misalignment angles and determine the transformation matrix from body frame to ECEF frame for the fine alignment.A simulation calculation is accomplished for this algorithm to prove its validity and availability.Besides,the alignment accuracy is also discussed.Experimental results show that the fine alignment can also be done under ECEF frame for inertial navigation system.
- inertial navigation system /
- earth-centered-earth-fixed frame /
- fine alignment /
- Kalman filter