捷联惯导寻北中卡尔曼滤波器的设计  

Design of Kalman filter in a strapdown intertial guidance north-seeking system

作　　者：苏中[1] 陈汐[1] 张霞[1] 

机构地区：[1]北京信息科技大学智能控制研究所,北京100101

出　　处：《北京信息科技大学学报（自然科学版）》2011年第4期6-10,共5页Journal of Beijing Information Science and Technology University

基　　金：973项目子专题(613121010101);北京市学术创新人才计划项目(PHR200906131;PHR201006115)

摘　　要：针对捷联惯性寻北系统无转动机构、算法简单,但对陀螺精度要求高的特点,提出了应用于车载捷联寻北系统的卡尔曼滤波器,通过卡尔曼滤波器提高系统寻北精度。首先建立陀螺信号的自回归时间序列模型,然后对陀螺数据进行卡尔曼滤波处理,并进行仿真试验验证。结果表明,设计的卡尔曼滤波器滤波效果显著,陀螺信号噪声得到了明显抑制,有效提高了寻北精度,验证了捷联惯性单位置寻北法的工程可行性。Strapdown inertia north seeking system has no rotating mechanism and simple in algorithm,but it requires a higher accuracy for gyroscopic.The Kalman filter of on-vehicle strapdown north seeker is proposed to improve the precision of north-seeking.An autoregressive time sequence model of the gyro signal is built,and then Kalman filter is applied to the signal filtering.The simulation test proves that the filtering effect is remarkabe;the noise of gyro signal is controlled efficiently;the precision of north-seeking is greatly improved,and the engineering feasibility of strap-down inertia north seeking system by single-location is verified as well.

关 键 词：寻北 单位置法 捷联惯导 卡尔曼滤波器 自回归模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]