SINS in-Flight Alignment Using Quaternion Error Models

WEI Chun-ling; ZHANG Hong-yue

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SINS in-Flight Alignment Using Quaternion Error Models

机译：使用四元数误差模型的SINS飞行中对准

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The widely used conventional linearized error models or perturbation models are not effective to represent the nonlinear characteristics of SINS error propagation with large attitude er- rors. Error equations in terms of quaternion error are derived, and extended Kalman filter tech- niques are used to solve the in-flight alignment problems. In the case of small attitude errors, the nonlinear models can be reduced to conventional phi-angle models. The simulation results show that the proposed error models may improve the performance of alignment.

机译：广泛使用的常规线性误差模型或微扰模型不能有效地表示大姿态误差下SINS误差传播的非线性特征。推导了基于四元数误差的误差方程，并使用扩展的卡尔曼滤波技术来解决飞行中对准问题。在较小的姿态误差的情况下，可以将非线性模型简化为常规的φ角模型。仿真结果表明，提出的误差模型可以提高对准性能。

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来源
《Chinese journal of aeronautics》 |2001年第3期|p.166-170|共5页
作者
WEI Chun-ling; ZHANG Hong-yue;
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原文格式 PDF
正文语种 eng
中图分类航空;
关键词
inertial navigation; initial alignment; quaternion;

机译：惯性导航初始对齐;四元数;

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专利

1. Comparison of SDINS in-flight alignment using equivalent error models [J] . Myeong-Jong Yu, Jang Gyu Lee IEEE Transactions on Aerospace and Electronic Systems . 1999,第3期

机译：使用等效误差模型比较SDINS空中对准
2. Comparison of SDINS in-flight alignment using equivalent errormodels [J] . Myeong-Jong Yu, Jang Gyu Lee, Heung-Won Park IEEE Transactions on Aerospace and Electronic Systems . 1999,第3期

机译：使用等效误差模型比较SDINS飞行中对准
3. Quaternion-Optimization-Based In-Flight Alignment Approach for Airborne POS [J] . Taizhong K., Jiancheng F., Wei W. Instrumentation and Measurement, IEEE Transactions on . 2012,第11期

机译：基于四元数优化的机载POS飞行中对准方法
4. In-flight correction of alignment errors for SINS/GNSS integrated navigation system [C] . Luyang Liang, Feng Zhou, Ye Yang, IEEE Chinese Guidance, Navigation and Control Conference . 2016

机译：对SINS / GNSS集成导航系统的对准误差进行实时校正
5. In-flight detection of errors for enhanced aircraft flight safety and vertical accuracy improvement using digital terrain elevation data with an inertial navigation system, global positioning system and radar altimeter. [D] . Gray, Robert Anthony. 1999

机译：使用惯性导航系统，全球定位系统和雷达高度计的数字地形高程数据，在空中进行错误检测，以提高飞机的飞行安全性和垂直精度，从而提高飞行效率。
6. Coarse Alignment Technology on Moving Base for SINS Based on the Improved Quaternion Filter Algorithm [O] . Tao Zhang, Yongyun Zhu, Feng Zhou, 2017

机译：基于改进的四元数滤波算法的捷联惯导动基座粗对准技术
7. A Localization and In-flight Alignment Protocol for Airborne SINS Based on Flight-vehicle Wireless Sensor Networks [O] . Chao Gao, Jianhua Lu, Guorong Zhao, 2010

机译：基于飞行车辆无线传感器网络的空降血管的本地化和飞行中的对准协议

SINS in-Flight Alignment Using Quaternion Error Models

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