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为提高静基座初始对准精度,缩短对准时间,采用了基于大方位失准角的对准模型,引入了高斯-厄米特滤波器(GHF)。针对GHF中均值和协方差阵的多元非线性高斯积分求解问题,利用初始对准误差方程的非线性是由大方位失准角导致的特点,通过状态的线性变换,求其线性状态解析解,将高维积分转化成一元数值积分,在不损失精度的前提下,解决了GHF在对准应用的“维数灾难”问题。将此算法用于实际系统,对比于扩展卡尔曼滤波器(EKF)、无迹卡尔曼滤波器(UKF),结果表明在大方位失准角条件下,GHF方法偏航角的对准精度提高了16%,对准时间缩短了75%。
In order to improve the initial alignment accuracy of static pedestal and shorten the alignment time, a Gaussian Hermitian filter (GHF) was introduced based on the alignment model of the azimuth misalignment. Aiming at the problem of multivariate nonlinear Gaussian integral solution of mean and covariance matrix in GHF, the nonlinearity of initial alignment error equation is caused by the large azimuth misalignment angle. Through the linear transformation of state, Converting high-dimensional integrals into one-dimensional numerical integrals solves the “dimensionality disaster” problem where GHFs are aligned for alignment without loss of accuracy. Compared with EKF and UKF, this algorithm is applied in practical system. The results show that the alignment accuracy of GHF method is improved under the condition of large azimuth misalignment angle 16%, alignment time reduced by 75%.