SINS初始对准QCDKF算法研究

郭凌云; 丁国强

doi:10.3969/j.issn.2095-476X.2013.01.021

January 2013

Article Contents

GUO Ling-yun and DING Guo-qiang. Quaternion central divided difference Kalman filtering algorithm in initial alignment of SINS[J]. Journal of Light Industry, 2013, 28(1): 86-91. doi: 10.3969/j.issn.2095-476X.2013.01.021

Citation: GUO Ling-yun and DING Guo-qiang. Quaternion central divided difference Kalman filtering algorithm in initial alignment of SINS[J]. Journal of Light Industry, 2013, 28(1): 86-91. doi: 10.3969/j.issn.2095-476X.2013.01.021 shu

Quaternion central divided difference Kalman filtering algorithm in initial alignment of SINS

GUO Ling-yun ¹ ,
DING Guo-qiang ²

Department of Foreign Languages, Zhengzhou University of Light Industry, Zhengzhou 450002, China;
College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China

Received Date: 2012-02-17
Available Online: 2013-01-15

Abstract

Considering the characteristics and computation superiority of quaternion representing body attitude movement, and aiming at the initial alignment procedure of strapdown inertial navigation system (SINS) with large initial misalignment angles,its multiplicative quaternion error model were developed. It proposes the new calculation method in which the attitude matrix cost function was constructed to calculate its maximum eigenvalues, and select the eigenvector which corresponds to the maximum eigenvalue as the predicted quaternion mean to guarantee its unit normalization and the sign invariability. The multiplicative quaternion error representing the distance between quaternion Sigma-points and the predicted quaternion mean calculates the quaternion prediction error variance matrix, which can effectively overcome the application limits for SPKF algorithms in quaternion filtering implementation. Combined with the central divided difference filtering (CDKF) algorithm, it proposes the new quaternion CDKF algorithm (QCDKF) for quaternion filtering problems in the SINS' simulation experiments. The simulations results showed that, compared with EKF algorithm, the proposed algorithm can significantly improve the filtering precision of both attitude misalignment angles and velocity and have better stabilization in the numerical calculation.
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沈阳化工大学材料科学与工程学院沈阳 110142

Quaternion central divided difference Kalman filtering algorithm in initial alignment of SINS

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通讯作者: 陈斌, bchen63@163.com