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以双轴旋转式SINS初始对准方法为研究对象,建立了双轴旋转式光学SINS大方位失准角误差模型,设计了双轴旋转式SINS大方位失准角初始对准的UPF初始对准算法;根据实际工程应用需要,结合UPF算法和卡尔曼滤波(KF)算法,设计了UPF+KF组合滤波算法,将其应用到了双轴旋转式光学SINS大方位失准角初始对准中。仿真及试验结果表明,提出的UPF+KF组合滤波算法有效降低了UPF算法的耗时,在双轴旋转式光学SINS大方位失准角初始对准中,水平姿态角收敛时间约为11min,方位角收敛时间约为20 min,而且对准误差大大缩小,水平姿态角误差小于3.6〞,方位误差小于2ˊ,证明本文提出的UPF+KF组合滤波算法是有效的、可行的。
Taking the biaxial rotary SINS initial alignment method as the research object, a large azimuth misalignment angle error model of the biaxial rotary optical SINS is established, and the UPF initial alignment of the biaxial rotary SINS azimuth misalignment initial alignment Algorithm. Combined with UPF algorithm and Kalman filter (KF) algorithm, a UPF + KF combination filtering algorithm is designed according to the needs of practical applications. The algorithm is applied to the initial alignment of biaxial rotating optical SINS with large azimuth misalignment. Simulation and experimental results show that the proposed UPF + KF combination filtering algorithm can effectively reduce the time-consuming of UPF algorithm. In the initial alignment of biaxial rotating optical SINS, the horizontal attitude angle convergence time is about 11min, The angular convergence time is about 20 min, and the alignment error is greatly reduced. The horizontal attitude error is less than 3.6 "and the azimuth error is less than 2 ’. It proves that the proposed UPF + KF combination filtering algorithm is effective and feasible.