| 自适应Kalman滤波在SINS初始对准中的应用 |
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| 引用本文： | 苏宛新,黄春梅,刘培伟,马明龙. 自适应Kalman滤波在SINS初始对准中的应用[J]. 中国惯性技术学报, 2010, 18(1): 44-47 |
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| 作者姓名： | 苏宛新 黄春梅 刘培伟 马明龙 |
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| 作者单位： | 1. 中国科学院,长春光学精密机械与物理研究所,长春,130033
2. 长春工业大学,计算机科学与工程学院,长春,130012 |
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| 摘 要： | 为了提高捷联惯导系统的对准精度和收敛速度,提出了一种基于Sage-Husa自适应滤波算法的初始对准方法。针对方位小失准角的情况,推导出精对准误差模型和自适应Kalman滤波方程。常规Kalman滤波算法,在噪声统计特性已知的情况下,使用比较方便;多数情况下,噪声统计特性是处于未知状态,从而引入自适应Kalman滤波算法。它利用观测到的数据自动进行噪声统计特性的在线估计和修正,使系统达到最佳的滤波效果。通过仿真验证,该自适应滤波算法有效地提高了收敛速度和对准精度。
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| 关 键 词： | 卡尔曼滤波 捷联惯导系统 初始对准 精对准 自适应滤波 |
Application of adaptive Kalman filter technique in initial alignment of inertial navigation system |
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| SU Wan-xin,HUANG Chun-mei,LIU Pei-wei,MA Ming-long. Application of adaptive Kalman filter technique in initial alignment of inertial navigation system[J]. Journal of Chinese Inertial Technology, 2010, 18(1): 44-47 |
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| Authors: | SU Wan-xin HUANG Chun-mei LIU Pei-wei MA Ming-long |
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| Affiliation: | SU Wan-xin1,HUANG Chun-mei2,LIU Pei-wei2,MA Ming-long2 (1.Changchun Institute of Optics,Fine Mechanics , Physics,Chinese Academy of Sciences,Changchun 130033,China,2.School of Computer Science & Engineering,Changchun University of Technology,Changchun 130012,China) |
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| Abstract: | To improve the alignment precision and convergence speed of strap-down inertial navigation system,an initial alignment method based on Sage-Husa adaptive filter is proposed.The exactitude alignment error model and the adaptive Kalman filter equation are derived for the case of small misalignment azimuth angle.When the noise statistical characteristics are known,the Kalman filter is suitable;while in the active system,most noise statistical characteristics are unknown,so we introduce an adaptive filter.It us... |
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| Keywords: | Kalman filter SINS initial alignment exactitude alignment adaptive filter |
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