基于SCKF和姿态估计的SINS/GPS在线对准方法

该文提出了基于平方根容积卡尔曼滤波和初始姿态估计的捷联惯导/全球定位系统组合在线对准法。构建平方根容积卡尔曼滤波器来对初始姿态估计的非线性量测模型进行滤波，估计代表初始姿态转换矩阵的罗德里格参数，并以此求出当前时刻的姿态转换矩阵，从而求出当前时刻准确的姿态。该文分别对制导武器系统和车载系统进行了半实物仿真。仿真结果表明，此方法可在25 s左右完成在线对准。其中短距离制导武器仿真结果航向角及俯仰角误差在0.1°内，横滚角误差在0.3°内；低成本车载导航系统仿真结果航向角误差在0.2°内，俯仰角及横滚角误差在1°内，可满足制导武器及低成本民用车辆的对准需求。

SINS/GPS Online Alignment Method Based on SCKF and Initial Attitude Estimation

A SINS/GPS online alignment method based on the square root cubature Kalman filter and initial attitude estimation algorithm is proposed in this paper. The square root cubature Kalman filter is constructed to handle the nonlinear measurement model of the initial attitude which is represented with Rodrigue parameter, and the attitude transformation matrix at the current time is obtained. The semi physical simulations of the guided weapon and the vehicle system are carried out. The results show that the online alignment can be finished within 25 s with the proposed method.The simulation results of short range guided weapon show that the yaw and pitch angle errors are within 0.1° and the roll angle errors are within 0.3°. The simulation results of low cost vehicle navigation system show that the yaw angle errors are within 0.2° and the pitch and roll angle errors are within 1°, which can meet the alignment requirements of guided weapons and low cost civil vehicles.