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| 基于ESO技术的惯导系统初始对准 | |
| 引用本文： | 赵汪洋,吴俊杰,庄良杰,杨功流.基于ESO技术的惯导系统初始对准[J].数据采集与处理,2007,22(1):105-109. |
| 作者姓名： | 赵汪洋 吴俊杰 庄良杰 杨功流 |
| 作者单位： | 1. 天津大学机械工程学院,天津,300072 2. 天津航海仪器研究所,天津,300131 3. 天津大学机械工程学院,天津,300072;天津航海仪器研究所,天津,300131 |
| 基金项目： | 船舶工业国防科技预研项目 |
| 摘 要： | 从控制角度出发,把自抗扰控制技术(扩张状态观测器(Extended state observer,ESO)、跟踪微分器)应用于惯性导航系统的静基座对准中,建立了系统的误差模型,深入地研究了这种对准方案的精度和速度,并与传统的卡尔曼滤波技术进行仿真比较。仿真结果表明:ESO技术克服了卡尔曼滤波技术使用条件的限制,在存在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。 |
| 关 键 词： | 扩张状态观测器 惯性导航系统 卡尔曼滤波 初始对准 |
| 文章编号： | 1004-9037（2007）01-0105-05 |
| 收稿时间： | 2006-03-10 |
| 修稿时间： | 2006-05-12 |
Initial Alignments of Inertial Navigation Systems on Static Base with ESO Technique |
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| Zhao Wangyang,Wu Junjie,Zhuang Liangjie,Yang Gongliu.Initial Alignments of Inertial Navigation Systems on Static Base with ESO Technique[J].Journal of Data Acquisition & Processing,2007,22(1):105-109. | |
| Authors: | Zhao Wangyang Wu Junjie Zhuang Liangjie Yang Gongliu |
| Affiliation: | 1. School of Mechanical Enginerring, Tianjin Unviersity, Tianjin, 300072, China 2. Tianjin Navigation Instrument Research Institute, Tianjin, 300131, China |
| Abstract: | Considering automation control system,the active disturbance rejection controller(the extended state observer(ESO)and the tracking differentiator(TD)) is applied to initial alignment of the intertial navigation system(INS) on the static base,the error model is established and the precision and the velocity of the aligning scheme are further investigated.Compared the ESO technology with the traditional Kalman filter technology,simulation results show that the method overcomes the restriction to the Kalman filter and obtains better results for moving base influenced by uncertain perturbations.And the system has high robustness and high anti-jamming. |
| Keywords: | extended state observer inertial navigation system Kalman filter initial alignment |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |