船用惯导系统姿态角微分估计算法  

Attitude differential estimation for shipborne inertial navigation system

作　　者：胡佩达[1] 高钟毓[1] 吴秋平[1] 陈文[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《中国惯性技术学报》2011年第3期273-276,共4页Journal of Chinese Inertial Technology

基　　金：国防科技预研项目(51309050202)

摘　　要：针对船用惯性导航系统,为提高姿态角微分估计精度,总结了实用的微分算法:滑动线性回归器、最佳差分法、5点回归、抛物线拟合、无滞后抛物线拟合和Kalman滤波器,推导了各方法对应的滤波器模型、幅值衰减特性和相位畸变特性,利用以上特性提出了设计微分滤波器的原则,并通过动态试验验证了以上理论,提出了组合最佳差分和Kalman滤波器的姿态角速率估计算法,其姿态角速率精度约为0.1421(°)/s,收敛时间为0.685 s,不仅具有很好的精度,并且有很好的收敛特性。In order to improve the precision of attitude rate estimation for shipborne inertial navigation system,the paper summarizes the methods for differencing the attitude to get attitude rate,which are sliding linear regression,best difference,five points regression,parabolic fit approximation,parabolic fit approximation without lag and Kalman filtering.Filter models,amplitude damping characteristics and phase distortion characteristics of the former methods are deduced.According to former characteristics,principle of designing differential estimation is given.Through experiments,former theories are verified.Then the best difference and Kalman filtering are combined to estimate the attitude rate.The accuracy of attitude rate is about 0.1421（？）/s,and the convergence time is 0.685 s.Theoretical analysis and experiment results show that it has good precision and quick convergence.

关 键 词：姿态角速率 微分 幅值衰减 相位畸变 

分 类 号：U666.1[交通运输工程—船舶及航道工程]