CAJ | 학술논문

由于光纤惯导系统导航精度不高，方位角常为大角度，因此系统初始对准的滤波方程为非线性的，为改善非线性模型下初始对准的精度，提出了一种改进Sage_Husa自适应卡尔曼滤波方法并应用于光纤惯导系统初始对准中。建立了大方位失准角初始对准的非线性误差模型，给出了Sage_Husa自适应卡尔曼滤波方程，对Sage_Husa自适应卡尔曼滤波不适合用在非线性滤波的缺陷进行了改进，建立系统噪声统计的估值器，对非线性误差方程进行了改进Sage_Husa自适应卡尔曼滤波仿真。仿真结果表明：改进Sage_Husa自适应卡尔曼滤波能够很好地处理初始对准中的非线性问题，提高初始对准精度，方位失准角误差估计精度较EKF提高27%。
유우광섬관도계통도항정도불고，방위각상위대각도，인차계통초시대준적려파방정위비선성적，위개선비선성모형하초시대준적정도，제출료일충개진Sage_Husa자괄응잡이만려파방법병응용우광섬관도계통초시대준중。건립료대방위실준각초시대준적비선성오차모형，급출료Sage_Husa자괄응잡이만려파방정，대Sage_Husa자괄응잡이만려파불괄합용재비선성려파적결함진행료개진，건립계통조성통계적고치기，대비선성오차방정진행료개진Sage_Husa자괄응잡이만려파방진。방진결과표명：개진Sage_Husa자괄응잡이만려파능구흔호지처리초시대준중적비선성문제，제고초시대준정도，방위실준각오차고계정도교EKF제고27%。
The azimuth was often a large angle because navigation accuracy of fiber-optic inertial navigation system was not high, and the filtering equations of initial alignment were non-linear. In order to improve the initial alignment accuracy of nonlinear models, a improved Sage_Husa adaptive kalman filtering method was put forward, and applied to initial alignment of fiber-optic inertial navigation system. Established initial alignment nonlinear model of large azimuth misalignment angle, contributed the system noise statistics estimators, and used improved Sage_Husa adaptive kalman filtering to simulate for nonlinear error equations. The simulation results show that the improved Sage_Husa adaptive kalman filtering could deal with nonlinear problems, improve the accuracy of initial alignment. Azimuth misalignment angle error estimation precision improved 27% than EKF.