基于卡尔曼滤波器的数字式捷联航姿系统算法设计  

Algorithm design of digital strapdown attitude and head reference system based on Kalman filter

作　　者：汪芳[1] 朱少华[1] 雷宏杰[1] 

机构地区：[1]飞行自动控制研究所,西安710065

出　　处：《中国惯性技术学报》2008年第2期208-211,共4页Journal of Chinese Inertial Technology

基　　金：国防科技重点预研项目(51309060403)

摘　　要：提出了一种基于卡尔曼滤波器的捷联航姿算法,利用加速度及磁航向作为观测量,结合四元数微分方程,采用信息融合手段对姿态信息及陀螺漂移进行修正。半实物仿真结果证明,该算法合理可行,达到了预期效果,为新型数字捷联式航姿系统研发奠定了基础。A new algorithm of strapdown AHRS（attitude and head reference system） was presented based on Kalman filter. Accelerations and magnetic heading were used as observations, combined with quatemion differential equation, to modify the attitude and gyros bias by information fusion. The result of half practicality simulation proves that the algorithm is reasonable and feasible. The algorithm reaches the expected effect, and it can be a foundation to the research and develop of new digital strapdown AHRS.

关 键 词：捷联 航姿系统 四元数 卡尔曼滤波器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]