| 捷联惯导寻北中卡尔曼滤波器的设计 |
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| 引用本文： | 苏中,陈汐,张霞.捷联惯导寻北中卡尔曼滤波器的设计[J].北京机械工业学院学报,2011(4):6-10. |
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| 作者姓名： | 苏中 陈汐 张霞 |
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| 作者单位： | 北京信息科技大学智能控制研究所,北京100101 |
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| 基金项目： | 973项目子专题（613121010101）;北京市学术创新人才计划项目（PHR200906131,PHR201006115） |
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| 摘 要： | 针对捷联惯性寻北系统无转动机构、算法简单,但对陀螺精度要求高的特点,提出了应用于车载捷联寻北系统的卡尔曼滤波器,通过卡尔曼滤波器提高系统寻北精度。首先建立陀螺信号的自回归时间序列模型,然后对陀螺数据进行卡尔曼滤波处理,并进行仿真试验验证。结果表明,设计的卡尔曼滤波器滤波效果显著,陀螺信号噪声得到了明显抑制,有效提高了寻北精度,验证了捷联惯性单位置寻北法的工程可行性。
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| 关 键 词： | 寻北 单位置法 捷联惯导 卡尔曼滤波器 自回归模型 |
Design of Kalman filter in a strapdown intertial guidance north-seeking system |
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| SU Zhong,CHEN Xi,ZHANG Xia.Design of Kalman filter in a strapdown intertial guidance north-seeking system[J].Journal of Beijing Institute of Machinery,2011(4):6-10. |
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| Authors: | SU Zhong CHEN Xi ZHANG Xia |
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| Affiliation: | ( Institute of Intelligence Control, Beijing Information Science and Technology University, Beijing 100101, China) |
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| Abstract: | Strapdown inertia north seeking system has no rotating mechanism and simple in algorithm,but it requires a higher accuracy for gyroscopic.The Kalman filter of on-vehicle strapdown north seeker is proposed to improve the precision of north-seeking.An autoregressive time sequence model of the gyro signal is built,and then Kalman filter is applied to the signal filtering.The simulation test proves that the filtering effect is remarkabe;the noise of gyro signal is controlled efficiently;the precision of north-seeking is greatly improved,and the engineering feasibility of strap-down inertia north seeking system by single-location is verified as well. |
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| Keywords: | north-seeking single location strapdown inertial guidance Kalman filter autoregressive model |
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