| 初始装订姿态误差对Kalman滤波器陀螺漂移估计的影响分析 |
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| 引用本文： | 谢莉莉,邱宏波.初始装订姿态误差对Kalman滤波器陀螺漂移估计的影响分析[J].中国惯性技术学报,2004,12(5):4-8,12. |
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| 作者姓名： | 谢莉莉 邱宏波 |
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| 作者单位： | 北京自动化控制设备研究所,北京,100074 |
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| 摘 要： | 探讨了动基座对准中的一个新的问题，初始装订姿态误差对Kalman滤波器估计陀螺漂移的影响，对该问题进行了试验和仿真。结果表明，利用速度匹配进行初始对准，初始装订姿态误差对两个水平陀螺漂移的估计值产生的影响，主要来自于系统初始装订姿态的精度和Kalman滤波器系统模型的精度，如果要保证滤波器足够的估计精度，应该首先从系统模型上解决。
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| 关 键 词： | Kalman滤波器 初始对准 动基座 陀螺漂移 估计精度 系统模型 速度匹配 姿态误差 影响分析 |
| 文章编号： | 1005-6734(2004)05-0004-05 |
Initial Binding Attitude Error to Evaluation of Gyro-drift of Kalman Filter |
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| XIE Li-li,QIU Hong-bo.Initial Binding Attitude Error to Evaluation of Gyro-drift of Kalman Filter[J].Journal of Chinese Inertial Technology,2004,12(5):4-8,12. |
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| Authors: | XIE Li-li QIU Hong-bo |
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| Abstract: | A new problem is analyzed in this paper. The problem is the influence of initial binding attitude error to evaluation of gyro-drift of Kalman filter. The problem is tested and simulated. The result shows that if velocity matching is used to alignment SINS, initial binding influence the value of evaluation to gyro-drift markedly. The influence is caused by initial binding and the model of Kalman filter. To obtain required precision, system model is required to be enough exact. |
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| Keywords: | Kalman filter initial binding gyro-drift evaluating velocity matching |
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