| 简化七阶CQKF及其在SINS大失准角初始对准中的应用 |
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| 引用本文： | 孟东,缪玲娟,邵海俊,沈军.简化七阶CQKF及其在SINS大失准角初始对准中的应用[J].宇航学报,2018,39(8):905-912. |
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| 作者姓名： | 孟东 缪玲娟 邵海俊 沈军 |
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| 作者单位： | 北京理工大学自动化学院，北京 100081 |
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| 基金项目： | 国家自然科学基金（6153002）；总装备部预先研究基金（51309030104） |
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| 摘 要： | 针对捷联惯性导航系统（SINS）大失准角初始对准的滤波过程，提出简化七阶正交容积卡尔曼滤波算法（7th-SCQKF）。根据简化容积卡尔曼滤波(CKF)理论，推导出改进的简化七阶CKF算法（7th-MSSRCKF），改进了原简化七阶CKF（7th-SSRCKF）的性能；同时，在7th-SSRCKF和7th-MSSRCKF基础上，引入正交半径准则，提出简化七阶CQKF（7th-SCQKF）算法，提高了滤波精度；并将简化七阶CQKF（7th-SCQKF）算法应用到SINS的大失准角初始对准仿真中，结果表明，7th-SCQKF比7th-MSSRCKF的滤波精度高，验证了新算法的正确性和有效性。
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| 关 键 词： | SINS 正交卡尔曼滤波 高阶滤波 简化CKF算法 |
| 收稿时间： | 2017-10-09 |
A Seventh Degree Simplified CQKF and Its Application in SINS Initial Alignment of Misalignment Angle |
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| MENG Dong,MIAO Ling juan,SHAO Hai jun,SHEN Jun.A Seventh Degree Simplified CQKF and Its Application in SINS Initial Alignment of Misalignment Angle[J].Journal of Astronautics,2018,39(8):905-912. |
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| Authors: | MENG Dong MIAO Ling juan SHAO Hai jun SHEN Jun |
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| Affiliation: | School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | A seventh-degree orthogonal simplified cubature Kalman filter algorithm (7th-SCQKF) is proposed for the initial alignment of a strapdown inertial navigation system (SINS). According to the simplified CKF theory, this paper introduces the improved seventh-order simplified CKF algorithm (7th-MSSRCKF), which improves the performance of the original seventh-degree simplified CKF (7th-SSRCKF). At the same time, on the basis of the 7th-SSRCKF and 7th-MSSRCKF, the 7th-SCQKF is proposed to improve the filtering accuracy. In the meantime, the seventh-degree simplified CQKF (7th-SCQKF) algorithm is applied to SINS’s large misalignment angle initial alignment simulation. It is proved that the filtering accuracy of the 7th-SCQKF is higher than that of the 7th-MSSRCKF, which verifies the correctness and validity of the new algorithm. |
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| Keywords: | SINS Orthogonal Kalman filter High degree filtering Simplified CKF algorithm |
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