Quaternion based nonlinear error model for rapid transfer alignment

被引：0

作者：

Dai H.-D. ^{[1
]}

Zhou S.-L. ^{[1
]}

Chen M. ^{[2
]}

Li J. ^{[3
]}

Wu X.-N. ^{[1
]}

机构：

[1] Department of Control Engineering, Naval Aeronautical and Astronautical University

[2] College of Automation, Northwestern Polytechnical University

[3] College of Mathematics and Information, Lu Dong University

来源：

Yuhang Xuebao/Journal of Astronautics | 2010年 / 31卷 / 10期

关键词：

Inertial navigation system; Quaternion; Rapid transfer alignment; Unscented Kalman filter;

D O I：

10.3873/j.issn.1000-1328.2010.10.015

中图分类号：

学科分类号：

摘要：

Aiming at the problem that the conventional linear error model which is based on the small misalignment assumption can not adapt to the initial alignment when the error is large. A nonlinear rapid transfer alignment error model using velocity plus quaternion as the measurement is presented in this work, which does not rely on small misalignment assumption, and it is proved that when the processed error diminishes to small, the nonlinear model can be reduced to conventional linear one. Uscented Kalman filter (UKF) is used to solve the nonlinear data fusion problem, instead of the normal used Extended Kalman Filter (EKF). A transfer alignment simulation system is developed for the evaluation and analysis of the nonlinear model. Simulation results show that the new nonlinear model performs as well as linear one when the initial misalignment is small, but when the misalignment is large, the nonlinear model presented in this paper can accomplish the alignment accurately, while the linear model based alignment filter is divergent already.

引用

页码：2328 / 2334

页数：6

共 23 条

[1]

Myron K., Walter R.F., Avionics Navigation Systems (Second Edition), (1997)

[2]

Titterton D.H., Weston J.L., Strapdown Inertial Navigation Technology (Second Edition), (2004)

[3]

Qin Y.Y., Inertial Navigation, (2006)

[4]

Goshen M.D., Bar-Itzhack I.Y., Unified approach to inertial navigation system error modeling, Journal of Guidance, Control, and Dynamics, 15, 3, pp. 648-653, (1992)

[5]

Kong X., Nebot E., Durrant-Whyte H., Development of a non-linear psi-angle model for large misalignment errors and its application in INS alignment and calibration, The IEEE international Conference on Robotics and Automation, (1999)

[6]

Scherzinger B.M., Reid D., Modified strapdown inertial navigation error models, The 1994 IEEE Position Location and navigation Symposium, PLANA'94, IEEE Aerospace and Electronic Systems, (1994)

[7]

Dmitriyev S.P., Stepanov O.A., Shepel S.V., Nonlinear filtering methods application in INS alignment, IEEE Transactions on Aerospace and Electronic Systems, 33, 1, pp. 260-272, (1997)

[8]

Kain J.E., Cloutier J.R., Rapid transfer alignment for tactical weapon applications, AIAA Guidance, Navigation and Control Conference, pp. 1290-1300

[9]

Tarrant D., Roberts C., Jones D., Et al., Rapid and robust transfer alignment, The First IEEE Regional Conference on Aerospace Control Systems, (1993)

[10]

You-Chol L., Joon L., Transfer alignment error compensator design using H-infinity filter, The American Control Conference, (2002)

← 1 2 3 →