基于导弹舵面信息的惯导姿态角速率滤波方法  

Angular-rate filtering of inertial navigation system based on missile rudder information

作　　者：卢晓东[1] 周军[1] 刘小军[1] 

机构地区：[1]西北工业大学精确制导与控制研究所,西安710072

出　　处：《中国惯性技术学报》2011年第3期281-285,共5页Journal of Chinese Inertial Technology

基　　金：航天支撑基金项目资助(2009CASIC0304)

摘　　要：针对导弹武器中低精度惯导系统陀螺所测量的弹体姿态角速率误差较大的问题,提出了利用导弹控制舵面信息与弹体姿态角的动力学关系构建滤波方程的方法,其相对于常用的低通滤波器能够更加精确地反映出姿态角的变化趋势。此外为降低采用EKF和UKF等非线性滤波方法所带来的计算复杂度,仿真中通过构造交错卡尔曼滤波器实现了对非线性系统的伪线性化。最后通过对某型低精度惯组在三轴姿态转台上的半实物仿真实验,该滤波算法将实测的惯导姿态角速率误差降低了40%以上。The low precision gyroscopes of the inertial navigation system in some missiles could cause obvious measurement error of the angular velocity.This paper presents a filtering method which is based on the dynamics equations between the control angle of rudders and the missile body attitude,and could previously indicate the change tendency of missile body angle.To reduce the computation complexity with the nonlinear filters such as EKF and UKF,an interlaced Kalman filter is applied to transform the nonlinear equations into the pseudo-linear state equation with coupling terms.The experiment results of a low-precision MEMS gyroscope prove the validity of the novel filter,in which the measured filtered errors of angular velocities have been reduced by 40%.

关 键 词：姿态角速率 舵面信息 交错卡尔曼滤波 低精度惯导 

分 类 号：U666.1[交通运输工程—船舶及航道工程]