东南大学学报（自然科学版）
東南大學學報（自然科學版）
동남대학학보（자연과학판）
JOURNAL OF SOUTHEAST UNIVERSITY
2014年
2期
266-271
,共6页
求积分卡尔曼滤波%捷联惯导系统%初始对准%大方位失准角
求積分卡爾曼濾波%捷聯慣導繫統%初始對準%大方位失準角
구적분잡이만려파%첩련관도계통%초시대준%대방위실준각
quadrature Kalman filter%SINS (strapdown inertial navingation system)%initial align-ment%large azimuth misalignment angle
为了改善大方位角初始对准精度和缩短收敛时间，在SINS动基座初始对准中引入了简化的Gauss-Hermite求积分卡尔曼滤波（QKF）方法。首先分析了Gauss-Hermite求积分中的单变量Gauss点及其系数配置方法，然后采用直接张量积法将单变量配置扩展后得到多变量Gauss点及其系数配置方法，给出了简化的QKF滤波算法。最后通过数学仿真分析比较了单变量积分点数为3的QKF（3点QKF）与比例对称采样UKF的对准性能，以及单变量积分点数取不同值（3，5和7）对QKF滤波性能的影响。结果表明：在动基座SINS大方位角初始对准中，3点QKF的对准精度远高于UKF的精度，方位角估计收敛速度也快于UKF，并且随着单变量Gauss积分点数的增加，QKF对准精度会进一步提高。
為瞭改善大方位角初始對準精度和縮短收斂時間，在SINS動基座初始對準中引入瞭簡化的Gauss-Hermite求積分卡爾曼濾波（QKF）方法。首先分析瞭Gauss-Hermite求積分中的單變量Gauss點及其繫數配置方法，然後採用直接張量積法將單變量配置擴展後得到多變量Gauss點及其繫數配置方法，給齣瞭簡化的QKF濾波算法。最後通過數學倣真分析比較瞭單變量積分點數為3的QKF（3點QKF）與比例對稱採樣UKF的對準性能，以及單變量積分點數取不同值（3，5和7）對QKF濾波性能的影響。結果錶明：在動基座SINS大方位角初始對準中，3點QKF的對準精度遠高于UKF的精度，方位角估計收斂速度也快于UKF，併且隨著單變量Gauss積分點數的增加，QKF對準精度會進一步提高。
위료개선대방위각초시대준정도화축단수렴시간，재SINS동기좌초시대준중인입료간화적Gauss-Hermite구적분잡이만려파（QKF）방법。수선분석료Gauss-Hermite구적분중적단변량Gauss점급기계수배치방법，연후채용직접장량적법장단변량배치확전후득도다변량Gauss점급기계수배치방법，급출료간화적QKF려파산법。최후통과수학방진분석비교료단변량적분점수위3적QKF（3점QKF）여비례대칭채양UKF적대준성능，이급단변량적분점수취불동치（3，5화7）대QKF려파성능적영향。결과표명：재동기좌SINS대방위각초시대준중，3점QKF적대준정도원고우UKF적정도，방위각고계수렴속도야쾌우UKF，병차수착단변량Gauss적분점수적증가，QKF대준정도회진일보제고。
In order to improve the precision and shorten the convergence time of SINS(strapdown in-ertial navigation system)initial alignment with a large azimuth misalignment angle,a simplified Gauss-Hermite quadrature Kalman filter (QKF)is introduced into the SINS initial alignment on a moving base.First,the configuration method for one-dimensional Gauss points and their correspond-ing coefficients in Gauss-Hermite quadrature is derived,which is then extended to form the multidi-mensional Gauss points and their coefficients using the direct tensor method.A simplified QKF is presented.Finally,by means of mathematical simulation,the filter performance of UKF(unscented Kalman filter)based on scaled symmetric sampling and QKF using 3 points in one dimension in SINS initial alignment with a large azimuth misalignment angle is compared,and the influence of different point numbers(3 ,5 and 7 )of one dimension on the QKF filter performance is also ana-lyzed.The simulation results show that under the condition of a large azimuth misalignment angle on a moving base,the alignment accuracy of a 3-point QKF is much higher than that of the UKF,and the azimuth angle estimation error convergence rate of the three-point QKF is also much faster than that of the UKF.With the increase in the number of one-dimensional Gauss-Hermite quadrature points,the alignment accuracy of the QKF can be further improved.
