井下捷联惯导系统导航数据处理滤波分析

针对现有煤矿井下定位技术误差较大、准确性不足的问题,引入了捷联惯导系统对煤矿井下人员和设备进行精确定位导航。为进一步提高捷联惯导系统的定位精度,提出了采用扩展卡尔曼滤波和采样卡尔曼滤波对系统数据进行滤波的算法,分析了扩展卡尔曼滤波和采样卡尔曼滤波的滤波原理,并对算法公式以及滤波效果进行了仿真分析。仿真结果表明,在假设井下噪声为高斯白噪声的前提下,采样卡尔曼滤波抖动性较小,曲线更为平滑,即滤波后的数据更加接近于真实数据,能够更准确地反映出坐标信息,且误差基本控制在允许的范围之内,具有较好的滤波效果。

Processing and filtering analysis of navigation data of underground strapdown inertial navigation system

In view of problems of large errors and low accuracy of positioning technology in coal mine, the strapdown inertial navigation system was introduced into coal mine personnel and equipment for precise positioning and navigation.In order to further improve positioning accuracy of strapdown inertialnavigation system,filtering algorithms of extended Kalman filter and unscented Kalman filter for system data were proposed,filtering principles of extended Kalman filter and unscented Kalman filter were analyzed,and formulas and algorithms and filtering effect were simulated.The simulation results show that unscented Kalman filter has less jitter and curve is more smoother,that is,filtered data is closer to real data,and it can reflect accurately coordinate information and its error is controlled within allowable range under precondition of assuming the underground noise is Gaussian white noise,which has a better filtering effect.