作者：王跃钢1, 杨家胜1,2, 文超斌1
作者单位：1. 第二炮兵工程大学自动控制系, 陕西 西安 710025;
2. 解放军96363部队, 甘肃 天水 741000
关键词：大失准角;捷联惯导;传递对准;并行算法
摘要：
针对大失准角下捷联惯导传递对准的问题,建立传递对准的非线性误差模型;针对非线性滤波计算量大的问题,提出基于速度+姿态匹配的传递对准并行算法,该方法通过将传递对准中的速度匹配和姿态匹配视为两个独立子系统,分别在子惯导计算机和主惯导计算机中设计单独的非线性滤波器,实施并行滤波,运用信息融合思想将主、子惯导的滤波结果进行融合,得到最佳的传递对准结果.仿真结果表明:在大失准角下,方位对准准确度可达4,其准确度与传统的传递对准算法准确度相当,而计算量大为减小,计算速度大大提高.
Parallel algorithm of transfer alignment for SINS under large misalignment
WANG Yuegang1, YANG Jiasheng1,2, WEN Chaobin1
1. Department of Automatic Control Engineering, The Second Artillery Engineering University, Xi'an 710025, China;
2. No.96363 Unit, People's Liberation Army of China, Tianshui 741000, China
Abstract: To solve the problem of transfer alignment of strapdown inertial navigation system (SINS) under large attitude errors, nonlinear error models were proposed for transfer alignment. To reduce the heavy computing burden of the nonlinear filter, a parallel algorithm based on velocity plus attitude matching method was presented. Regarding velocity matching and attitude matching as two independent subsystem, this method designs two separated nonlinear filter respectively, estimates the misalignment simultaneously, and uses the information fusion method to get the optimum transfer alignment results. The simulation results show that the azimuth alignment accuracy of the proposed algorithm can reach 4 arc min, and the parallel algorithm for transfer alignment has the comparable performance with the traditional method with reduced calculation burden and thus the calculation speed is improved greatly.
Keywords: large misalignment;strapdown inertial navigation system(SINS);transfer alignment;parallel algorithm
2015, 41(3): 86-90 收稿日期: 2014-7-25;收到修改稿日期: 2014-9-18
基金项目: 国防预研基金(2001D1302)
作者简介: 王跃钢(1958-),男,四川资中县人,教授,博士生导师,研究方向为先进惯性导航及测试.
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