无先验信息条件下基于最优化理论的传递对准方法研究

The transfer alignment is interfered by motion, vibration and external environment. The filtering method is faced with the problem of degradation or even divergence with invalid or missing prior information. In order to solve the problem of the invalid or missing prior information, the transfer alignment method based on optimization theory and its application verification are discussed. A method is setup for the transfer alignment error model to the transformation optimization equation and solution; A initialization method of transfer alignment based on the optimal estimation of quaternions without prior information is proposed; The method of transfer alignment and online calibration based on the vector matching optimization is proposed, which can realize online calibration function and compensation of the main error items of the inertial navigation system; Based on the optimization algorithm and the reverse transfer alignment method, a transfer alignment method based on optimization theory is proposed. The research results of this project will be verified by the actual airborne or missile borne platform, which provides an effective solution for the transfer alignment of inertial navigation system on the dynamic platform without prior information.

机动平台上的子惯导系统在动基座情况下的传递对准过程中会受到运动干扰、振动干扰以及外界环境干扰。基于卡尔曼滤波的传递对准方法面临干扰条件下初始姿态信息和惯性器件误差统计特性等先验信息失效或缺失，导致对准精度劣化甚至发散的问题。本项目针对传递对准过程中先验信息失效或缺失的问题，系统地开展无先验信息条件下基于最优化理论的传递对准方法研究。建立从传递对准方程、误差模型到最优化方程的转换与求解的方法；提出无先验信息条件下基于四元数最优估计的传递对准初始化方法；提出基于矢量匹配最优化理论的传递对准与在线标定方法，实现传递对准与子惯导系统惯性器件主要误差项在线标定补偿的功能；研究基于参变量分离的算法优化技术和逆向传递对准方法，提出无先验信息条件下基于最优化理论的传递对准方法。本项目取得的研究成果在实际的机载或弹载平台下进行应用验证，为无先验信息条件下机动平台上的子惯导系统传递对准提供理论依据和技术支撑。

本项目针对传递对准过程中先验信息失效或缺失的问题，系统地开展无先验信息条件下基于最优化理论的传递对准方法研究。建立从传递对准方程、误差模型到最优化方程的转换与求解的方法；提出无先验信息条件下基于四元数最优估计的传递对准初始化方法；提出基于矢量匹配最优化理论的传递对准与在线标定方法，实现传递对准与子惯导系统惯性器件主要误差项在线标定补偿的功能；研究基于参变量分离的算法优化技术和逆向传递对准方法，提出无先验信息条件下基于最优化理论的传递对准方法。本项目取得的研究成果经仿真实验或飞行离线验证结果表明：该方法能够在无先验信息条件下估计出主、子惯导系统间的失准角，同时对子惯导系统惯性器件的主要误差项完成标定，为无先验信息条件下机动平台上的子惯导系统传递对准提供理论依据和技术支撑。