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针对SINS/GPS组合导航定位系统中高分辨率机载SAR运动补偿问题,通过建立SINS/GPS组合导航定位系统误差模型开展机载SAR运动过程中姿态解算,根据SINS中姿态四元数微分方程特点,利用二次Padé逼近法构造一种四元数范数规范化计算公式,使四元数迭代计算过程中具备保范性,利用5阶CKF算法构建SINS/GPS组合导航定位系统的误差模型算法.仿真结果表明,与传统UKF、CKF模型算法相比,该算法收敛速度快,滤波精度高且计算量小,满足机载高分辨率SAR的姿态估算要求.
Aiming at the problem of motion compensation of high resolution airborne SAR in SINS / GPS integrated navigation and positioning system, the attitude of SINS / GPS integrated navigation and positioning system is established by the error model of SINS / GPS integrated navigation and positioning system. According to the characteristics of the quaternion differential equation , Using the quadratic Padé approximation method to construct a quaternion norm normalized formula to make the quaternion iterative process have the guarantee and use the 5th order CKF algorithm to build the SINS / GPS integrated navigation and positioning system error model algorithm. The simulation results show that compared with the traditional UKF and CKF model algorithms, this algorithm has the advantages of fast convergence rate, high filtering precision and small computational load, and meets the requirements of attitude estimation of airborne high-resolution SAR.