陆用惯性导航系统非线性对准方法

doi:10.7527/S1000-6893.2017.21554

Abstract

Abstract: The gun-board Strapdown Inertial Navigation System (SINS) is discussed. To solve the problem of system non-linear caused by the large azimuth misalignment angle, a non-linear parameter estimation method based on Fast Orthogonal Search (FOS) and Kalman Filter (KF) is proposed after a detailed analysis of the model for estimation of large misalignment angle errors. The non-linear error model previously trained is used for alignment. The linear attitude error can be eliminated, and the nonlinear attitude error can be suppressed effectively. The simulation results show that the FOS/KF method can result in more alignment accuraty and real-time than the Extended Kalman Filter (EKF). With a comparison of the test results shows that the azimuth angle error is up to 14.99° when the EKF is used alone, while the azimuth angle error is within 0.8° when the FOS/KF method is used. The accuracy of estimation with FOS/KF method does not change with nonlinearity of the system and does not need coarse alignment, simplifying the alignment process and improving the carrier maneuverability effectively.

Key words: fast orthogonal search, large misalignment angle, Kalman filter, self-propelled artillery, inertial navigation

CLC Number:

WANG Zhiwei, WANG Fengjie, DI Changchun, SHI Zhiyong, YANG Gongliu. Nonlinear alignment method for land SINS[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(1): 321554-321554.

References

[1] SAVAGE P G. Strapdown analytics[M]. Minn:Strapdown Associates, 2000:331-332.[2] GAIFFE T. From R&D brass board to navigation grade FOG-based INS:The experience of Photonetics/Ixsea[C]//Optical Fiber Sensors Conference Technical Digest. Piscataway, NJ:IEEE Press, 2012:1-4.[3] NAPOLITANO F, GAIFFE T, COTTREAU Y, et al. PHINS:The first high performances inertial navigation system based on fiber optic gyroscopes[C]//International Conference on Integrated Navigation Systems. Piscataway, NJ:IEEE Press, 2002:296-304.[4] EI-SHEIMY N, NASSAR S, NOURELDIN A. Wavelet de-noising for IMU alignment[J]. IEEE Aerospace and Electronic Systems Magazine, 2004, 19(10):32-39.[5] ARASA I, HAYKIN S. A numerical-integration perspective on Gaussian filters[J]. IEEE Trans on Automatic Control, 2009, 54(8):1254-1269.[6] WAN E A, VAN D, MERWE R. The unscented kalman filter for nonlinear estimation[C]//Adaptive System for Signal Processing Communication and Control, Piscataway, NJ:IEEE Press, 2000:1389-1392.[7] YU M J, PARK H W, JEON C B. Equivalent nonlinear error models of strapdown inertial navigation system[C]//ION GPS/GNSS 2003. Manassas, VA:ION Publications, 2003:188-198.[8] 李东明. 捷联式惯导系统初始对准方法研究[D]. 哈尔滨:哈尔滨工程大学, 2006:85-88. LI D M. Study on initial alignment methods of strapdown inertial navigation system[D]. Harbin:Harbin Engineering University, 2006:85-88(in Chinese).[9] 王志伟, 石志勇, 全振中. 惯性导航在线标定滤波技术[J]. 火力与指挥控制, 2014, 39(12):2061-2065. WANG Z W, SHI Z Y, QUAN Z Z. A survey of inertial navigation on-line calibration filtering technique[J]. Fire Control & Command Control, 2014, 39(12):2061-2065(in Chinese).[10] HASSIBI B, SAYED A H, KAILATH T. Linear estim-ation in Krein spaces-part2:Application[J]. IEEE Transactions on Automatic Control, 2016, 41(1):34-49.[11] WANG X Y, HUANG Y. Convergence study in extended Kalman filter-based training of recurrent neural networks[J]. IEEE Transactions on Neural Networks, 2016, 22(4):588-600.[12] GAN X S, DUANMU J S, CONG W. Wavelet neural network based on ssukf and its applications in aerodynamic force modeling for flight vehicle[C]//Proceeding of the 2000 National Technical Meeting of the Institute of Navigation. Anaheim, CA:Institute of Navigation, 2000:574-582.[13] 王巍. 惯性技术研究现状及发展趋势[J]. 自动化学报,2013, 39(6):723-728. WANG W. Status and development trend of inertial technology[J]. Acta Automatic Sinica, 2013, 39(6):723-728(in Chinese).[14] WU Y X, WU M P, HU X P, et al. Self-calibration for land navigation using inertial sensors and odometer:Observability analysis[C]//AIAA Conference of Guidance, Navigation and Control. Reston, VA:AIAA, 2013:1-10.[15] WU Y X, GOODALL C, EI-SHEIMY N. Self-calibration for IMU/Odometer land navigation:Simulation and test results[C]//Proceedings of ION/ITM. Manassas, VA:ION Publications, 2015:839-849.[16] KORENBERG M J. A Robust orthogonal algorithm for system identification and time series analysis[J]. Biological Cybernetics, 1989, 60(4):267-276.[17] KORENBERG M J, PAARMANN L D. Applications of fast orthogonal search:Time-series analysis and resolution of signals in noise[J]. Annals of Biomedical Engineering, 1989, 17(3):219-231.[18] KORENBERG M J. Identification nonlinear difference equation and functional expansion representations:The fast orthogonal algorithm[J]. Annals of Biomedical Engineering, 1988, 16(4):123-142.[19] KORENBERG M J, PAARMANN L D. Orthogonal approaches to time-series analysis and system identification[J]. IEEE Signal Processing Magazine, 1991, 8(3):29-43.[20] MIKAEL E J, KORENBERG M J, JAMES M P. Nonlinear system identification and control of chemical processes using fast orthogonal search[J]. Journal of Process Control, 2017, 17(9):742-754.[21] 高伟. 捷联惯性导航系统初始对准技术[M]. 北京:国防工业出版社, 2014:105-106. GAO W. Initial alignment for strapdown inertial navigation system[M]. Beijing:National Defense Industry Press, 2014:105-106(in Chinese).

Nonlinear alignment method for land SINS

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Yuan XIAO, Kun FENG, Minghui HU, Zhinong JIANG. Extraction method for unsteady vibration components of aero-engine rotors [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(3): 228158-228158.
[2]	Jing NI, Bo MA, Zhaoxu YANG, Chenggang TAO, Yan ZHOU, Yiwen HU. Design and test of visual-inertial integrated method for landing guidance [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727636-727636.
[3]	Xiangdan ZHAO, Biao WANG, Zhisheng WANG, Zhong YANG. Predictive fifth-degree cubature Kalman filter method [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(6): 326817-326817.
[4]	Xin ZOU, Minglei LI, Daiyin ZHU, Wei RAO, Chengzhi HAN, Ying LI. Application of morphological parameter identification for Mars parachute during opening process [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(6): 227007-227007.
[5]	Qiang XU, Hongliang CUI, Bangping DING, Aigang ZHAO, Yang ZHAO. Two-stage strong tracking differential Kalman filter for X-ray pulsar navigation with coloured noise [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526120-526120.
[6]	Kai XIONG, Chunling WEI, Liansheng LI, Peng ZHOU. Pulsar/inter-satellite LOS integrated navigation based on augmented QLEKF [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526232-526232.
[7]	Junqiu YIN, Yunpeng LIU, Xiaobin TANG. Spacecraft positioning method based on pulsar-like X-ray beacon [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(3): 526596-526596.
[8]	Zebo ZHOU, Zeliang ZHANG, Xin PENG, Gun LI, Yang TAO, Liangquan WANG, Xin LUO. Multi-UAV decentralized cooperative navigation method based on memory-fusion [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(20): 628440-628440.
[9]	Shifeng ZHANG, Jun LI, Huabo YANG. Review of inertial guidance instrumental error separation techniques [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(15): 528590-528590.
[10]	Tantao LIU, Ruiyu LI, Limin GAO, Lei ZHAO. Experimental data driven cascade flow field prediction based on data assimilation [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(14): 628201-628201.
[11]	Jiaxin YANG, Shengjin TANG, Liang LI, Xiaoyan SUN, Shuai QI, Xiaosheng SI. Remaining useful life prediction of implicit nonlinear Wiener degradation process based on multi-source information [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(12): 227662-227662.
[12]	CHEN Linxiu, YANG Xiangyu, ZHANG Hang, ZHAO Jiajia, HAO Mingrui. Composite guidance technology based on active radar/infrared information fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 727058-727058.
[13]	XIONG Wei, ZHU Hongfeng, CUI Yaqi. Recurrent adaptive maneuvering target tracking algorithm based on online learning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 325250-325250.
[14]	DONG Xinhao, ZHOU Zhijie, HU Changhua, FENG Zhichao, CAO You. Performance evaluation method for inertial system based on hierarchical belief rule base [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 324456-324456.
[15]	FANG Anran, LI Dan, ZHANG Jianqiu. Nonlinear filter robust to outlier and unknown observation noise [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 324675-324675.