动基座传递对准非线性滤波器的设计及应用

在非线性、非高斯条件下进行动基座传递对准,如果采用卡尔曼滤波会出现误差较大甚至发散的问题。本文引入强跟踪自适应滤波器,建立对估计误差的一步预测方差PK/K-1的加权算法,来达到抑制噪声的目的;同时,针对初始对准对准精度与快速性的要求,建立了动基座传递对准精确的非线性滤波模型。通过计算机仿真,模拟了飞机机动模式,验证所提滤波器的可行性。最后,通过与扩展卡尔曼滤波的比较,说明非线性强跟踪自适应滤波器在对准精度与速度上都有更好的表现。

Design and application of nonlinear Kalman filer in moving base alignment of inertial navigation systems

In moving base transfer alignment under nonlinear and non-Gaussian situation,using Kalman Filtering could cause large error or even divergence.To solve this problem,a nonlinear strong tracking adaptive Kalman filer(STAKF) is given,and a weighted algorithm which predict the error by one step predicted variance PK/K-1 is constructed.Meanwhile,an accurate nonlinear filter model for moving base alignment is built,which meets the requirements of alignment velocity and accuracy in air-to-air missiles.The simulati...