简化自协方差最小二乘噪声估计的SINS静基座初始对准

林旭; 罗志才; 周波阳

doi:10.13203/j.whugis20120172

简化自协方差最小二乘噪声估计的SINS静基座初始对准

林旭¹,
罗志才^1,2,3,,
周波阳¹

¹ 武汉大学测绘学院,湖北武汉,430079;² 武汉大学地球空间环境与大地测量教育部重点实验室,湖北武汉,430079;³ 武汉大学测绘遥感信息工程国家重点实验室,湖北武汉,430079

基金项目: 国家自然科学基金资助项目(41174062,41131067)；中央高校基本科研业务费专项资金资助项目(2012214020206)；地球空间环境与大地测量教育部重点实验室开放基金资助项目(12-02-09)

详细信息

作者简介:
林旭,博士生,主要从事航空重力测量数据处理与应用研究。

通讯作者:
罗志才

中图分类号: P227.2
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出版历程
- 收稿日期: 2013-03-16
- 修回日期: 2014-05-04
- 发布日期: 2014-05-04

SINS Stationary Initial Alignment Based on SimplifiedAutocovariance Least-Squares Method

¹School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;²Key Laboratory of Geospace Environment and Geodesy,Ministry of Education,Wuhan University,Wuhan 430079,China;³State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan 430079,China

Funds: The National Natural Science Foundation of China, Nos. 41174062, 41131067; the Fundamental Research Funds for the Central Universities , No. 2012214020206; the Open Research Fund Program of the Key Laboratory of Geospace Environment and Geodesy , Ministry of Education , Wuhan University, No. 12-02-09.

More Information

Author Bio:
LINXu: LIN Xu,PhD candidate,majors in airborne gravimetry data processing and applications.

Corresponding author:
LUO Zhicai: Luo Zhicai

摘要

摘要: 目的研究了观测噪声统计特性未知的情况下,简化的自协方差最小二乘噪声估计方法在捷联惯性导航系统静基座初始对准中的应用。该算法采用迭代计算的策略,同时进行噪声估计和初始姿态修正,估计精度较高。通过数值方法对此算法的正确性和有效性进行了验证。
- 捷联惯性导航系统(SINS) /
- 自协方差最小二乘法 /
- 噪声估计 /
- 初始对准 /
- Kalman滤波
Abstract: Objective Initial alignment is one of the key technologies of the strapdown inertial navigation system.The applications of the strapdown inertial navigation system however,are directly affected by the ac-curacy of initial alignment.Kalman filtering is an effective algorithm for SINS initial alignment,butthe optimal estimates are based on the filtering model and the noise covariance matrices which are al-ready known.This paper focuses on the simplified autocovariance least-squares noise estimation meth-od in the strapdown inertial navigation system’s stationary initial alignment.The proposed method es-tablishes a relationship between unknown measurement noise and the autocovariance.The noise co-variance can be estimated by solving it as a linear least squares problem.The proposed method esti-mates measurement noise and corrects INS attitude by iterative calculation.Simulation results showthat the proposed method performs very well in noise covariance estimation and strapdown inertialnavigation system initial alignment.
- SINS /
- autocovariance least-squares method /
- noise estimation /
- initial alignment /
- Kalmanfilter