摘要
基于某型低精度光纤陀螺捷联系统,分别采用经典罗经对准、两位置卡尔曼滤波及连续旋转卡尔曼滤波三种方法进行了初始对准实验研究。结果表明,经典罗经对准方法由于未对零偏进行处理,导致其精度不高。两位置卡尔曼滤波方法可以对惯性器件的零偏进行估计并补偿,一定程度上提高了精度。连续旋转卡尔曼滤波方法通过调制抑制陀螺零偏误差影响,相比前两种对准方法,精度显著提高,该文进行了理论分析。
Based on one fiber optic gyro SINS, three initial alignment methods including classical gyrocompass, two-position Kalman filter and continuous-rotation Kalman filter are experimentally studied. The result shows that the alignment accuracy of classical gyrocompass method is low due to the non-compensated bias of IMU. Two-position Kalman filter can estimate and compensate the biases of gyros and accelerometers, and thus the accuracy is improved. Continuous rotation Kalman filter can modulate and restrain the bias, which greatly improves the alignment accuracy compared with above two methods. Additionally, theoretical analysis is given in this paper.
出处
《压电与声光》
CSCD
北大核心
2007年第5期519-522,共4页
Piezoelectrics & Acoustooptics
关键词
捷联惯性导航
初始对准
卡尔曼滤波
光纤陀螺
strapdown inertial navigation
initial alignment
Kalman filter
fiber optic gyro
