基于ESO技术的惯导系统初始对准  

Initial Alignments of Inertial Navigation Systems on Static Base with ESO Technique

作　　者：赵汪洋[1] 吴俊杰[2] 庄良杰[1] 杨功流[1] 

机构地区：[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

出　　处：《数据采集与处理》2007年第1期105-109,共5页Journal of Data Acquisition and Processing

基　　金：船舶工业国防科技预研基金(02J4.18)资助项目

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。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 estab- lished 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.

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 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]