大失准角传递对准模型及其并行集员估计算法研究

项目名称： 大失准角传递对准模型及其并行集员估计算法研究

项目编号： No.U1204603

项目类型： 联合基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 丁国强

作者单位： 郑州轻工业学院

项目金额： 31万元

中文摘要： 研究精确快速传递对准非线性误差系统以及高精度非线性最优估计算法是惯性导航系统大角度情形下动基座快速传递对准系统设计关键性问题。本项目针对传递对准操作技术要求,从传递对准系统误差因素和惯性组件误差参数对传递对准性能影响等方面开展如下研究内容:研究主子惯性导航系统杆臂误差及其计算补偿优化算法，研究载体运动挠曲效应误差不确定性补偿建模及其区间分析算法和非线性系统线性化处理的高阶误差项区间分析算法，研究主子惯性导航系统间的数据传输延迟效应误差建模及其优化补偿算法，利用四元数、Rodriguez参数特性获取精确大角度失准角动基座快速传递对准误差模型系统，利用UBB噪声假设计算优势和高效并行计算效率,研究椭球集员估计理论的并行算法和区间分析算法，利用泛函分析理论研究算法的数值稳定性。开辟传递对准系统误差优化补偿计算方法、非线性最优估计并行计算算法以及新型传递对准模型算法方面研究的新途经。

中文关键词： 惯性导航系统；初始对准；集员估计；并行计算；扩展椭球集员算法

英文摘要： It is the key issues of fast transfer alignment system design with movement base and large misalignment angles in INS that''s its accurate nonlinear error modelling and its high-precision nonlinear optimal estimation algorithm. Based on the technical requirements of transfer alignment operation,considerating the effect of transfer alignment system error factors and IMU''s error parameters to the performance of transfer alignment the project develops some research contents as follows: studing on the Lever-arm error effect between MINS and SINS and its optimal compensation calculation algorithm, and the buckling movement effect of carrier and its error uncertainty compensation modelling and its interval analysis algorithm, and the interval analysis algorithm of high-order remainder terms in linearization of nonlinear system model，and the delay effect error of data transmission and its error modelling and optimal compensation algorithm between MINS and SINS, with quaternion and Rodriguez parameters developing the high-precision transfer alignment error model with movement base and large misalignment angles, with the advantage of UBB noise assumption and the higher calculation efficiency of parallel algorithm,it researches the parallel algorithm of ellipsoidal set-membership estimation theory and its interval algori

英文关键词： Inertial Navigation System；Inertial Alignment；Set-Member Estimation；Parallel Computing；Extended ellipsoidal set-member algorithm