基于MEKF的捷联惯导初始对准算法研究

在某些对精度要求不是很高的领域微机电系统(MEMS)等低精度捷联惯导系统因其造价低等特点而得到广泛应用。由于传统的初始对准方法不能估计除姿态以外的任何量,故不适用于MEMS等低精度捷联惯导系统。该文研究了一种基于姿态估计的初始对准方法,并使用乘性扩展卡尔曼滤波进行对准,在姿态对准的同时实现对惯性器件误差的建模估计。在实现初始对准的基础上显著降低了计算量。

Study on the Initial Alignment Algorithm of SINS Based on Multiplicative Extended Kalman Filter(MEKF)

In some areas of accuracy is not very high, the low accuracy of SINS like MEMS have wide applications for its low cost, but MEMS does not apply to the conventional initial alignment because they can estimate nothing but posture. A kind of initial alignment based on EKF is studied in this paper, and the multiplicative extended Kalman Filter (MEKF) is used for aligning. The estimation of inertial device error modeling is realized as the posture alignment. The amount of calculation is reduced significantly while the initial alignment is realized.