自適應(yīng)卡爾曼濾波在平臺(tái)射前自標(biāo)定中的應(yīng)用

研究了自適應(yīng)卡爾曼濾波技術(shù)在平臺(tái)射前自標(biāo)定數(shù)據(jù)處理中的應(yīng)用,標(biāo)定采用四位置標(biāo)定方法,對(duì)角度傳感器輸出建立常速度模型。在噪聲統(tǒng)計(jì)未知或時(shí)變的情況下,每個(gè)位置采用自適應(yīng)卡爾曼濾波解算出平臺(tái)各軸的漂移角速率,并在此基礎(chǔ)上辨識(shí)出漂移參數(shù)。仿真表明,自適應(yīng)卡爾曼濾波能較好地滿(mǎn)足標(biāo)定精度要求。
關(guān)鍵詞:平臺(tái)自標(biāo)定;自適應(yīng)卡爾曼濾波;參數(shù)辨識(shí)
Abstract : This paper studies the algorithm of data processing in self2calibration of inertial platform. Based on a four position turnover test method , constitutes a CV model for output of goniometer. In case of the noise statistic being unknown or variable ,adaptive Kalman filter is used to get drift speed of each axle at each test position ,and then drift parameter is calculated. The simulation result shows that adaptive Kalman filter can meet the accuracy requirement in self2 calibration.
Keywords : Self2calibration of platform; Adaptive Kalman filter ; Parameter identification