摘要
阐述了卡尔曼滤波技术在捷联惯导系统初始对准中的应用,建立了捷联惯导系统初始对准的误差模型和卡尔曼滤波模型观测方程,进行了卡尔曼滤波仿真,并分析了提高采样频率对系统的估计精度和收敛速度的影响。仿真结果表明,此方法算法简单,能有效缩短初始对准时间,对准稳态精度较高,是一种理想的初始对准方案。
The application of Kalman filter technique in strap-down inertial navigation system （SINS） is studied in this paper. The error function for initial alignment of SINS and the observation equation of Ka/man filter model is built. Simulation of Kalman filter presented. Then analyzing the effects of increasing the sampling frequency for the estimation aecuraey and eonvergenee rate of the system. Simulation results show that the proposed Kalman filter algorithm is available to the initial alignment in an inertial navigation system.
出处
《装备制造技术》
2009年第12期36-38,共3页
Equipment Manufacturing Technology
关键词
捷联惯性导航系统
初始对准
卡尔曼滤波
strap-down inertial navigation system
initial alignment
kalman filter
