Pei Fujun, Su Yang, Zhu Desen, Yin Shunan
Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China.
Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China.
Sensors (Basel). 2020 Oct 9;20(20):5740. doi: 10.3390/s20205740.
Aimed at the alignment problem of strapdown inertial navigation system (SINS) on the swing base, a novel coarse alignment method using special orthogonal group optimal estimation is proposed. There are two main contributions in this paper. First, based on the Lie group differential equation, the rotation matrix is updated directly by using error Lie algebra, which avoids the non-convexity of traditional methods and the need for non-collinear vector observation. Second is that a novel optimal estimation method is developed by using the exact error Lie algebra, which is calculated based on the physical definition of Lie algebra, as the innovation term to compensate the initial special orthogonal group in the estimation process. The asymptotic convergence of the proposed optimal estimation method is proved by Lyapunov's second law. The simulation and experimental results demonstrate that the proposed method exhibits better performance than existing methods in alignment accuracy and time, which can achieve the self-alignment of SINS on the swing base.
针对捷联惯性导航系统（SINS）在摇摆基座上的对准问题，提出了一种基于特殊正交群最优估计的新型粗对准方法。本文有两个主要贡献。首先，基于李群微分方程，利用误差李代数直接更新旋转矩阵，避免了传统方法的非凸性以及对非共线矢量观测的需求。其次，利用基于李代数物理定义计算得到的精确误差李代数作为新息项，开发了一种新型最优估计方法，用于在估计过程中补偿初始特殊正交群。通过李雅普诺夫第二定律证明了所提最优估计方法的渐近收敛性。仿真和实验结果表明，所提方法在对准精度和时间方面比现有方法具有更好的性能，能够实现SINS在摇摆基座上的自对准。
