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微小型导航制导控制系统MGNC(Micro Guidance Navigation and Control)传感器多,且数据处理能力有限,为实时提供导航结果,传统上采用降维滤波提高实时性,但这样会造成精度损失.为保证不减少滤波状态量,不损失精度,针对捷联和滤波特点提出一种新的实时解算方法:在捷联解算中以直接递推求解方向余弦矩阵代替以四元数为中间变量进行的间接求解;在滤波计算中用序贯方法处理量测修正值,避免复杂的矩阵求逆;采用稀疏矩阵三元组法,应用于协方差阵计算,减少乘法次数.仿真和实验证明改进算法对计算精度没有损失,且滤波计算时间比原算法减少了34.50%,显著提高了MGNC系统的实时性、鲁棒性和实用性.
Micro-Guidance Navigation and Control (MGNC) has many sensors and limited data processing capabilities, providing navigation results in real time. Traditionally, dimensionality reduction filtering has been used to improve real-time performance, but this will result in loss of accuracy. A new real-time solution method based on the characteristics of strapdown and filter is proposed in this paper. The direct recursion method is used to solve the direct cosine matrix instead of using the quaternion as the intermediate variable In the filtering calculation, the measurement correction value is dealt with in a sequential manner to avoid the complex matrix inversion. The sparse matrix triple method is applied to the covariance matrix calculation to reduce the number of multiplications. The simulation and experimental results show that the improved algorithm has higher accuracy No loss, and the filtering time is reduced by 34.50% compared with the original algorithm, which greatly improves the real-time, robustness and practicability of MGNC system.