宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (9): 1227-1235.doi: 10.3873/j.issn.1000-1328.2022.09.010

• 制导、导航、控制与电子 • 上一篇    下一篇

一种地理系下基于伪线性模型的捷联惯导算法

杨小康，严恭敏，李思锦，李四海，刘明雍   

  1. 1. 西北工业大学自动化学院，西安 710129; 2. 陕西省飞行控制与仿真技术重点实验室，西安 710129;3. 西安微电子技术研究所，西安 710065; 4. 西北工业大学航海学院，西安 710072
  • 收稿日期:2021-11-19 修回日期:2022-06-21 出版日期:2022-09-15 发布日期:2022-09-15
  • 基金资助:
    国家自然科学基金（51879219）

An SINS Algorithm in Geographical Coordinate System Based on Pseudo linear Model

YANG Xiaokang, YAN Gongmin, LI Sijin, LI Sihai, LIU Mingyong   

  1. 1. School of Automation, Northwestern Polytechnical University, Xi’an 710129, China; 2. Shaanxi Province Key Laboratory of Flight Control and Simulation Technology, Xi’an 710129, China; 3. Xi’an Microelectronics Technology Institute, Xi’an 710065, China; 4. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
  • Received:2021-11-19 Revised:2022-06-21 Online:2022-09-15 Published:2022-09-15

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摘要： 针对传统捷联惯导算法模型为非线性，需要对姿态、速度和位置分步运算，且高动态下算法精度较低的问题，提出一种地理系下基于伪线性模型的捷联惯导算法。利用伪线性模型及其分析方法，将传统的地理系下捷联惯导方程各部分转换成伪线性形式，定义导航向量并建立其系统模型；再利用高阶数值积分算法提升导航向量更新精度，得到地理系下基于伪线性模型的捷联惯导算法。最后，用仿真评估算法精度，与传统捷联惯导算法相比，大机动条件仿真中伪线性捷联惯导算法的精度提升了两个量级；旋转弹飞行仿真中导航误差不到传统算法的1/5。提出的伪线性捷联惯导算法结构简单，采用一个更新回路即可完成导航向量更新，且在高动态大机动条件下具有更高的算法精度，因此，对于捷联惯导算法研究与工程应用有一定的参考价值。

关键词: 伪线性模型, 捷联惯导系统, 四元数, 高精度导航

Abstract: The traditional strapdown inertial navigation algorithm model is nonlinear, the attitude, speed and position need to be calculated step by step, and the accuracy of the algorithm is low under high dynamic conditions. To solve the problems, a novel strapdown inertial navigation algorithm based on pseudo linear model in the geographic coordinate system is proposed. A new system model of unitive navigation vector is designed with pseudo linear model and its analyzing methods, after each part of the traditional SINS algorithm has been converted to pseudo linear form. Then the high order numerical integration algorithm is used to improve the accuracy of navigation vector updating, and an SINS algorithm in geographical coordinate system based on pseudo linear model is obtained. Finally, a series of flight simulations are carried out to evaluate the accuracy of the algorithm. Compared with the traditional SINS algorithm, the pseudo linear algorithm accuracy is improved by two orders of magnitude in high dynamic maneuver conditions, while its navigation error is less than 1/5 of the traditional algorithm in the spinning projectile simulation. The proposed pseudo linear SINS algorithm is simple in structure, can complete the navigation vector update by using one update loop, and has higher algorithm accuracy under the condition of high dynamic and large maneuver. Therefore, it has certain reference value for the research and engineering application of SINS algorithm.

Key words: Pseudo linear model, Strapdown inertial navigation system (SINS), Quaternion, High accuracy navigation

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