摘要
惯性元件误差是捷联惯导系统的主要误差源,必须在导航过程中加以补偿。根据机动目标跟踪理论和惯性测量组合动态模型,分别建立状态方程和观测方程,利用机动频率自适应的算法进行卡尔曼滤波,以此达到惯性测量组合动态误差和随机误差补偿的目的。仿真结果说明该方法可行有效,优于传统的误差补偿算法,能较好地提高系统导航精度。
As the main error source of SINS, the errors of inertial instrument must be compensated. Therefore, a self-adaptive Kalman Filter is presented in this paper. The state function is established according to the theory of tracking maneuvering target, and the observation function is established by using the dynamical model of IMU. The maneuvering frequency is adaptively chosen. It is proved that this method is feasible and efficient. By comparing with the common method, it is indicated that this method is superior and can improve the accuracy of SINS.
出处
《中国惯性技术学报》
EI
CSCD
2006年第2期5-8,共4页
Journal of Chinese Inertial Technology
作者简介
唐笑慧（1981-），女，硕士，主要研究方向为惯性元件的性能测试、分析、误差补偿，捷联惯导系统的初始对准、导航，组合导航。电子邮箱：tthuixinyixiao@163．com
