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中文
Wang Zhelong

Professor
Supervisor of Doctorate Candidates
Supervisor of Master's Candidates


Academic Titles:Professor, Head of Lab of Intelligent System
Other Post:自动化技术研究所所长
Gender:Male
Alma Mater:University of Durham
Degree:Doctoral Degree
School/Department:School of Control Science and Engineering
Discipline:Control Theory and Control Engineering
Pattern Recognition and Intelligence System
Detection Technology and Automation Device
Business Address:Lab of Intelligent System
http://lis.dlut.edu.cn/
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Current position: 英文主页 >> Scientific Research >> Paper Publications
基于EPEA的SINS大失准角非线性初始对准方法

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Indexed by:Journal Article

Date of Publication:2012-01-01

Journal:大连理工大学学报

Included Journals:CSCD、ISTIC、PKU、EI、Scopus

Volume:52

Issue:5

Page Number:736-742

ISSN:1000-8608

Key Words:捷联惯导系统; 大失准角; 非线性初始对准; 扩展卡尔曼滤波; 无迹卡尔曼滤波

Abstract:基于欧拉平台误差角(EPEA)的概念描述了理论导航坐标系到计算导航坐标系之间的失准角,推导了捷联惯导系统(SINS)在大失准角情况下进行初始对准
   的非线性误差模型.在系统噪声和量测噪声均为加性噪声且量测方程为线性方程时,给出了带阻尼解算的简化扩展卡尔曼滤波(EKF)算法和简化无迹卡尔曼滤波
   (UKF)算法,同时分析了不同失准角情况下初始对准过程的异同.静基座状态下的Monte
   Carlo仿真结果表明,大失准角和大方位失准角情况下,EKF和UKF算法都能满足对准要求,其中UKF算法较EKF算法具有对准时间更快、对准精度更
   高和适用范围更广的优点;小失准角情况下,由于捷联惯导系统的线性化误差变小,二者的对准时间和对准精度基本相同.

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