自抗扰控制器在平台惯导系统动基座下初始对准应用

根据自抗扰控制器在时变系统、多变量系统中的使用方法的特点,将自抗扰控制技术应用于平台式惯性导航系统的初始对准,设计了一种在动基座下的快速对准方案.建立了系统的误差模型,深入研究了该对准方案的精度和速度,并与传统的卡尔曼滤波器进行仿真比较.仿真结果表明,自抗扰控制器克服了卡尔曼滤波技术使用条件的限制,在对于不确定性扰动影响的快速对准中取得了较好的效果,鲁棒性和抗干扰性都有较大提高.

Application of active disturbance rejection controller in initial alignment of INS on moving base

According to the characteristic of active disturbance rejection controller's(ADRC) applications in time-varying systems and multi-variable system,an initial alignment of INS is applied by using active disturbance rejection control technique,and a new initial alignment scheme of INS is proposed which focused on the INS moving base.The error model of system is set up,the precision and velocity of the aligning scheme is further researched.Comparing the ADRC with the traditional Kalman filter,the simulation results show that the method not only overcomes the restriction to Kalman filter,but also gets better results for moving base disturbed by uncertain perturbations.And the system has high robustness and high anti-jamming.