Jiao Yubing, Li Jie, Ma Xihong, Feng Kaiqiang, Guo Xiaoting, Wei Xiaokai, Feng Yujun, Zhang Chenming, Wang Jingqi
National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China.
Sensors (Basel). 2022 Jun 21;22(13):4686. doi: 10.3390/s22134686.
For the alignment problem of strapdown inertial navigation system (SINS) under the complex environment of unknown latitude, angular oscillation interference, and line interference, the ant colony simulated annealing algorithm of gravity vector optimization is proposed to obtain the gravity apparent motion vector optimization equation, and the polynomial fitting method is proposed to simultaneously perform latitude estimation and self-alignment in combination with the alignment principle of SINS. Simulations and experiments show that the proposed method has more robust anti-interference capability than the traditional interference-based alignment method, the latitude estimation accuracy is improved by six times, the self-alignment yaw angle error RMSE value after obtaining the latitude is within 0.7°, and the roll angle and pitch angle error values are within 0.1°.
针对捷联惯性导航系统（SINS）在未知纬度、角振荡干扰和线干扰等复杂环境下的对准问题，提出了重力矢量优化的蚁群模拟退火算法，以获得重力视运动矢量优化方程，并结合SINS的对准原理，提出了多项式拟合方法同时进行纬度估计和自对准。仿真和实验表明，该方法比传统的基于干扰的对准方法具有更强的抗干扰能力，纬度估计精度提高了6倍，获得纬度后的自对准偏航角误差RMSE值在0.7°以内，横滚角和俯仰角误差值在0.1°以内。
