两级解耦卡尔曼滤波在平台惯导系统自主标定和对准中的应用

本文结合实际工程背景，采用两级卡尔曼滤波方法对平台惯导系统进行对准和标定，分别构造陀螺滤波器和加速度计滤波器，前者用于估计平台失调角和陀螺误差系数，后者用于估计加速度计误差系数，然后利用分离偏差滤波理论，将陀螺滤波器分解成状态滤波器和偏差滤波器，使滤波计算进一步得到简化。与一般卡尔曼滤波器相比，此滤波器的计算量以及计算机内存占用量都大为减小，而且估计精度很高

Application of TwoStage Decoupled Kalman Filtering to the SelfContained Calibration and Alignment of Platform Inertial Navigation System

In this paper a twostage decoupled Kalman filtering is presented for the selfcontained calibration and alignment of platform INS under the consideration of practical conditions . First , gyroscope filter and accelerometer filter are designed separately . The former is used to estimate the error parameters of gyroscopes and the attitude error between platform axes and computation frame ; the latter is used to estimate the error parameters of accelerometers . Then , separatebias estimation is used in the gyroscope filter for making it simple . Compared with general Kalman filtering , this new filtering reduces the computational and memory cost , while little accuracy of estimation is lost .