吉林大学学报(信息科学版)

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基于模型预测的无人机组合陀螺在线标定

贾鹤鸣1, 宋文龙1, 牟宏伟2, 车延庭3   

  1. 1. 东北林业大学 机电工程学院, 哈尔滨 150040; 2. 中国运载火箭技术研究院, 北京 100076;3. 哈尔滨工程大学 自动化学院, 哈尔滨 150001
  • 收稿日期:2013-03-14 出版日期:2013-09-24 发布日期:2014-04-04
  • 作者简介:贾鹤鸣(1983—), 男, 哈尔滨人, 东北林业大学副教授, 博士, 主要从事非线性系统控制理论与应用、 智能控制与滤波技术研究, (Tel)86-13206666920(E-mail)jiaheminglucky99@126.com; 通讯作者:宋文龙(1973—), 男, 吉林四平人, 东北林业大学教授, 博士生导师, 主要从事林业智能检测与控制研究, (Tel)86-13206616920(E-mail)wlsong139@126.com。
  • 基金资助:

    中央高校基本科研业务费专项资金资助项目(DL13BB14)

Integrated Gyro's On-Line Calibration of Unmanned Aerial Vehicle Based on MPF

JIA He-ming1, SONG Wen-long1, MU Hong-wei2, CHE Yan-ting3   

  1. 1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China;2. China Academy of Launch Vehicle Technology, Beijing 100076, China;3. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2013-03-14 Online:2013-09-24 Published:2014-04-04

摘要:

为解决无人机长时间航行时, 由于环境等因素的变化, 导致陀螺漂移、 标度因数误差和陀螺安装轴不正交误差的问题, 借助天文导航系统(CNS: Celestial Navigation System)提供的高精度姿态信息, 基于四元数误差建立陀螺在线标定误差模型, 提出一种基于模型预测的捷联惯性导航系统(SINS: Strap Down Inertial Navigation System)/CNS组合陀螺在线标定混合滤波方法。仿真结果表明, 该方法能够很好地适用于在线标定, 不仅满足标定精度要求, 而且降低了滤波的计算量, 提高了滤波的数值稳定性。

关键词: 在线标定, 四元数误差, 模型预测, 混合滤波

Abstract:

When the vehicles are sailing for a long time, the changes in environmental and other factors will cause gyro drift, scale factor and installation errors. Therefore gyro's on-line calibration is necessary. We uses high precision attitude information provided by CNS (Celestial Navigation System), installs gyro's on-line calibration models based on quaternion error, a method of hybrid filter of SINS(Strap Down Inertial Navigation System)/CNS integrated gyro's on-line calibration based on MPF (Model Prediction Filter) is presented. Results of simulation show that this method is good for on-line calibration, not only meets the requirements of calibration acuracy, but also reduces the amount of calculation, improves the numerical stability.

Key words: on-line calibration, quaternion error, model prediction filter (MPF), hybrid filter

中图分类号: 

  • TN967.2