摘要
针对捷联惯导系统(SINS)传递对准实际工程应用时的降阶建模问题,给出了速度匹配卡尔曼滤波器误差模型的降阶建模过程,分析模型降阶对传递对准误差估计精度的影响,通过将各状态量对滤波估计的影响等效成惯导系统的初始失准角,以量化的方式比较各状态量影响滤波精度的大小,从而为模型降阶提供依据。最后进行了数学仿真及试验验证,试验结果表明模型降阶方法是可行和有效的,降阶模型对失准角及陀螺漂移的估计精度能够达到模型降阶前的精度,达到了预期的效果,而且模型降阶后滤波器的计算量比降阶前减少了85%左右,大大提高了滤波器计算的实时性,满足实际工程应用的要求。
In view of the problem of transfer alignment model reduction applied in strapdown inertial navigation system （SINS）on moving base, a model reduction process for velocity-matching Kalman filtering model was presented. The influence of model reduction on transfer alignment was analyzed. To compare the influence of states on transfer alignment, they were made equivalent to the influence ofmisalignment angles. The numerical simulation and experim was presented which showed the feasibility and effectiveness of the proposed methods. The reduced model can have he same precision but it reduces 85% computation burden and improves the quality of real time. The performance of the reduced model for transfer alignment can satisfy the requirements of the practical application.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期403-407,共5页
Journal of Chinese Inertial Technology
基金
国防科技预研项目(51309060405)
