Adaptive Feedback Alignment Algorithm Based on Improved OBA Method

LEI Xiaoying; YANG Pengxiang; LI Yingju; MEI Chunbo

doi:10.15892/j.cnki.djzdxb.2024.05.012

Journal of Projectiles, Rockets, Missiles and Guidance >

2024 , Vol. 44 >Issue 5: 96 - 103

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.05.012

Adaptive Feedback Alignment Algorithm Based on Improved OBA Method

LEI Xiaoying ,
YANG Pengxiang ,
LI Yingju ,
MEI Chunbo

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Xi’an Mordern Control Technology Research Institute,Xi’an 710065,Shaanxi, China

Received date: 2024-08-05

Online published: 2024-12-18

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Abstract

In order to solve the problem of aerial alignment of UAVs under situation of satellite navigation, an adaptive feedback alignment algorithm based on improved OBA(optimization-based alignment) alignment algorithm is proposed to unify the process of coarse alignment and fine alignment. After OBA algorithm, the adaptive Kalman filter is used in each step to estimate the sensor error and compensate the attitude of the carrier. The real-time attitude of the carrier is directly output by the system, and the alignment time is shortened. The Sage-husa adaptive estimator is used to correct the observed noise covariance matrix of the system, and then the adaptive factor is reconstructed to correct the covariance matrix of the system state variables. The sensor error is estimated by KF (Kalman filter), and the observed vector is compensated through the feedback channel and that iterate constantly on the attitude angle alignment results. Simulation experiments are designed and simulate the unknown random errors in the velocity and position information given by satellite navigation, it is found that the improved OBA adaptive feedback alignment algorithm effectively improves the alignment accuracy and application scenarios of the original OBA algorithm, and the heading angle error is reduced from 79.45° to -0.032°. The comparison between the proposed algorithm and EKF (extended Kalman filter) shows that the convergence time of pitch angle and heading angle of the proposed algorithm is about 30 s shorter than that of the EKF algorithm. After the convergence of the EKF algorithm, the error of the proposed algorithm is 2.203° smaller than that of the EKF algorithm. The proposed algorithm has more advantages in the initial alignment for large misalignment angle with unknown measurement noise, and can be applied to the initial alignment of large maneuvering aircraft.

Key words： initial alignment; Kalman filtering; adaptive filter for Sage-husa; differential filtering

Cite this article

LEI Xiaoying , YANG Pengxiang , LI Yingju , MEI Chunbo . Adaptive Feedback Alignment Algorithm Based on Improved OBA Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2024 , 44(5) : 96 -103 . DOI: 10.15892/j.cnki.djzdxb.2024.05.012

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