基于信息复用和算法融合的初始对准方法

doi:10.12305/j.issn.1001-506X.2021.05.19

系统工程与电子技术 ›› 2021, Vol. 43 ›› Issue (5): 1310-1315.doi: 10.12305/j.issn.1001-506X.2021.05.19

基于信息复用和算法融合的初始对准方法

徐志浩¹(), 周召发^1,*(), 常振军¹(), 郭琦²()

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 中国人民解放军96902部队, 北京 100015

收稿日期:2020-07-01 出版日期:2021-05-01 发布日期:2021-04-27
通讯作者: 周召发 E-mail:1500105885@qq.com;zhaofa_zhou@163.com;changzj2105@163.com;Guoqi_academic@163.com
作者简介:徐志浩(1994—), 男, 博士研究生, 主要研究方向为车载组合导航。E-mail: 1500105885@qq.com|周召发(1973—), 男, 教授, 博士研究生导师, 博士, 主要研究方向为组合导航与信息融合。E-mail: zhaofa_zhou@163.com|常振军(1986—), 男, 讲师, 博士, 主要研究方向为车载组合导航。E-mail: changzj2105@163.com|郭琦(1992—), 男, 助理工程师, 硕士，主要研究方向为组合导航。E-mail: Guoqi_academic@163.com
基金资助:
国家自然科学基金(41174162)

Initial alignment method based on information reuse and algorithm fusion

Zhihao XU¹(), Zhaofa ZHOU^1,*(), Zhenjun CHANG¹(), Qi GUO²()

1. Missile Engineering Institute, Rocket Force University of Engineering, Xi'an 710025, China
2. Unit 96902 of the PLA, Beijing 100015, China

Received:2020-07-01 Online:2021-05-01 Published:2021-04-27
Contact: Zhaofa ZHOU E-mail:1500105885@qq.com;zhaofa_zhou@163.com;changzj2105@163.com;Guoqi_academic@163.com

摘要/Abstract

摘要：

对惯性系多矢量定姿法的误差特性进行了理论分析, 同时分析了最优估计初始对准的可观测性和对准误差, 得出静基座下两种方法的对准精度相当的结论, 通过试验验证了该结论, 并发现当对准时间较短时, 多矢量定姿法存在较大波动, 因此将对准阶段的所有数据均用于多矢量定姿, 提高算法稳定性, 并将最优估计对准扩展到整个对准阶段, 从而提高了对准精度。结合两种算法极限精度相同但抗干扰能力不同的特点, 设计了算法融合的车载对准方案。车载试验表明, 新方案有效提高了干扰条件下的初始对准精度和鲁棒性, 可将方位角标准差由传统方案的1.48′减小到0.72′。

关键词: 捷联惯导, 初始对准, 信息复用, 算法融合

Abstract:

Through theoretical analysis of the error characteristics of the multi-vector attitude determination method and the observability of the optimal estimation initial alignment, it is concluded that the accuracy of the two methods under a static base is equivalent. This conclusion is verified through experiments, and it is found that when the alignment time is short, the multi-vector attitude determination method has large fluctuations. Therefore, in order to improve the stability of the algorithm, all data in the alignment phase is used for multi-vector attitude determination. And the optimal estimation alignment is extended to the entire alignment stage to improve the alignment accuracy. Combining the characteristics of the two algorithms with the same limit accuracy but different anti-jamming capabilities, a vehicle-mounted alignment scheme with algorithm fusion is designed. The vehicle experiments show that the new scheme improves the accuracy and robustness of the initial alignment under interference conditions, and the standard deviation of the azimuth angle is reduced from 1.48′ in the traditional scheme to 0.72′.

Key words: strapdown inertial navigation system (SINS), initial alignment, information reuse, algorithm fusion

中图分类号:

V249.3

徐志浩, 周召发, 常振军, 郭琦. 基于信息复用和算法融合的初始对准方法[J]. 系统工程与电子技术, 2021, 43(5): 1310-1315.

Zhihao XU, Zhaofa ZHOU, Zhenjun CHANG, Qi GUO. Initial alignment method based on information reuse and algorithm fusion[J]. Systems Engineering and Electronics, 2021, 43(5): 1310-1315.

图/表 5

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图4

表1

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ψ	多矢量	估计1	估计2	融合算法
1	9.650 7	9.655 9	9.652 7	9.651 7
2	9.638 4	9.625 7	9.631 3	9.634 9
3	9.667 9	9.698 2	9.676 1	9.672 0
4	9.650 0	9.678 4	9.658 5	9.654 2
5	9.647 4	9.649 8	9.645 9	9.646 7
6	9.639 1	9.642 0	9.639 0	9.639 1
7	9.641 1	9.640 7	9.644 1	9.642 6
8	9.632 6	9.616 0	9.629 4	9.631 0
9	9.633 4	9.629 8	9.638 7	9.636 0
10	9.640 3	9.645 5	9.643 1	9.641 7
均值	9.644 1	9.648 2	9.645 9	9.645 0
1σ (′)	0.630 0	1.480 0	0.830 0	0.720 0

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基于信息复用和算法融合的初始对准方法

Initial alignment method based on information reuse and algorithm fusion

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