| 自适应卡尔曼滤波在惯性测量组合误差补偿中的应用 |
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| 引用本文： | 唐笑慧,富立,范耀祖.自适应卡尔曼滤波在惯性测量组合误差补偿中的应用[J].中国惯性技术学报,2006,14(2):5-8. |
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| 作者姓名： | 唐笑慧 富立 范耀祖 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院,北京,100083 |
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| 摘 要： | 惯性元件误差是捷联惯导系统的主要误差源，必须在导航过程中加以补偿。根据机动目标跟踪理论和惯性测量组合动态模型，分别建立状态方程和观测方程，利用机动频率自适应的算法进行卡尔曼滤波，以此达到惯性测量组合动态误差和随机误差补偿的目的。仿真结果说明该方法可行有效，优于传统的误差补偿算法，能较好地提高系统导航精度。
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| 关 键 词： | 惯性测量组合 误差补偿 自适应卡尔曼滤波 目标跟踪 |
| 文章编号： | 1005-6734(2006)02-0005-04 |
| 收稿时间： | 02 14 2006 12:00AM |
| 修稿时间： | 2006年2月14日 |
A self-adaptive Kalman filter for IMU dynamical error compensation |
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| TANG Xiao-hui,FU Li,FAN Yao-zu.A self-adaptive Kalman filter for IMU dynamical error compensation[J].Journal of Chinese Inertial Technology,2006,14(2):5-8. |
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| Authors: | TANG Xiao-hui FU Li FAN Yao-zu |
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| Institution: | College of Automation Science and Electrical Engineering, Beijing University of Astronautics and Aeronautics, Beijing 100083, China |
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| Abstract: | As the main error source of SINS, the errors of inertial instrument must be compensated. Therefore, a self-adaptive Kalman Filter is presented in this paper. The state function is established according to the theory of tracking maneuvering target, and the observation function is established by using the dynamical model of IMU. The maneuvering frequency is adaptively chosen. It is proved that this method is feasible and efficient. By comparing with the common method, it is indicated that this method is superior and can improve the accuracy of SINS. |
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| Keywords: | IMU error compensation self-adaptive KF target tracking |
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