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自适应卡尔曼滤波在平台射前自标定中的应用
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2009-07-10
吴藩
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研究了自适应卡尔曼滤波技术在平台射前自标定数据处理中的应用,标定采用四位置标定方法,对角度传感器输出建立常速度模型。在噪声统计未知或时变的情况下,每个位置采用自适应卡尔曼滤波解算出平台各轴的漂移角速率,并在此基础上辨识出漂移参数。仿真表明,自适应卡尔曼滤波能较好地满足标定精度要求。
关键词:平台自标定;自适应卡尔曼滤波;参数辨识
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
关键词:平台自标定;自适应卡尔曼滤波;参数辨识
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
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