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惯性导航系统(INS)初始对准的误差方程在本质上是非线性的,估计惯性导航初始对准误差普遍采用的做法是把失准角假设为小角度,再将误差模型线性化。但当运载体遭遇恶劣环境姿态变化剧烈时,用于估计小失准角的误差模型将不再满足初始对准的要求。为满足大失准角下惯导系统的初始对准,在建立大失准角下的非线性误差模型基础上,分别应用2种非线性滤波方法(UKF与UPF)进行仿真,分析、比较了它们的滤波性能。
The initial alignment error of inertial navigation system (INS) is nonlinear in nature. Estimating the initial alignment error of inertial navigation is generally based on the assumption that the misalignment angle is a small angle, and then the error model is linearized. However, when the carrier experiences severe changes in the harsh environment, the error model used to estimate the small misalignment angle will no longer meet the initial alignment requirements. In order to meet the initial alignment of INS under large misalignment angle, two kinds of nonlinear filtering methods (UKF and UPF) were respectively used to simulate, analyze and compare the nonlinear error model under large misalignment angle Their filtering performance.