基于MFFAKF的微惯导磁匹配粗对准方法

针对微机电系统(MEMS)陀螺仪精度低，无法完成惯导系统方位对准的问题，该文提出一种采用加速度计与磁强计输出完成MEMS惯导系统粗对准法。同时针对遗忘卡尔曼滤波法的缺点，提出将一种多遗忘因子自适应卡尔曼滤波法(MFFAKF)引入系统的对准方案中。该方法通过基于指数渐消记忆的方式计算量测噪声方差阵，并采用多遗忘因子调节不同的滤波通道。实验结果表明，采用MFFAKF得到的粗对准航向角精度满足MEMS惯导系统粗对准要求。

Study on Magnetic Matching Coarse Alignment Method of Micro Inertial Navigation System Based on MFFAKF

In view of the low precision of microelectromechanical systems(MEMS) gyroscope and the inability to complete the azimuth alignment of the inertial navigation system, a method of using the accelerometer and magnetometer output to complete the coarse alignment of the MEMS inertial navigation system is proposed in this paper. At the same time, aiming at the shortcomings of the forgetting Kalman filtering method, an alignment scheme of introducing the multi forgetting factors adaptive Kalman filter (MFFAKF) method into the system is proposed. The method uses the index fading memory means to calculate the variance matrix of measurement noise, and the multi forgetting factors is used to adjust the different filtering channels. The experimental results show that the coarse alignment heading accuracy obtained by MFFAKF satisfies the coarse alignment requirements of the MEMS inertial navigation system.