Application Research of Interpolated Particle Filter in Initial Alignment of Strap-down Inertial Navigation System in Static
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摘要:
推导了大方位失准角条件下，捷联惯导系统(SINS)静基座初始对准非线性误差模型，提出一种基于插值粒子滤波(DDPF)的 SINS 静基座初始对准方法。分析了插值非线性滤波原理，结合插值滤波和粒子滤波的特点，利用二阶插值滤波算法得到粒子滤波的重要性密度函数。 在静基座状态下分别基于 DDF 和 DDPF 滤波算法进行初始对准仿真实验。仿真结果表明，大方位失准角的情况下，DDPF 非线性滤波具有更快的收敛速度和更高的对准精度。
Abstract:
The nonlinear error model of initial alignment of strap-down inertial navigation system (SINS) under the condition of large azimuth misalignment angle in static is discussed. An initial alignment method based on interpolated particle filter is proposed. The principle of the method is analyzed. Combining the characteristics of interpolated filtering and particle filtering, the importance density function of particle filtering is obtained by using the second-order interpolation filtering algorithm. The simulation results based on DDF and DDPF algorithms show that the DDPF method proposes higher accuracy and faster convergence rate.
