基于IMU弹道测量的扩展卡尔曼滤波参数估计算法  

Parameters Estimation Algorithm by Extended Kalman Filtering Based on IMU Measurement for Projectile Trajectory

作　　者：杨慧娟[1,2] 黄铮[3] 霍鹏飞[3] 

机构地区：[1]中北大学信息与通信工程学院,山西太原030051 [2]中北大学仪器科学与动态测试重点实验室,山西太原030051 [3]西安机电信息研究所,陕西西安710065

出　　处：《中北大学学报（自然科学版）》2013年第3期314-318,344,共6页Journal of North University of China(Natural Science Edition)

摘　　要：针对目前弹道修正技术中测试参数误差较大且实时性和安全性不能满足相应的精度需求的现状,采用扩展混合卡尔曼滤波器来估计弹丸3种状态参数,包括弹丸在空气中的相对速度、高度和轨迹角.建立了卡尔曼滤波系统状态模型和以轴向加速度为观测量的量测模型.对IMU的测量数据进行滤波和估计处理,得到误差较小且满足实时性和安全性要求的弹道修正信息.仿真结果表明:滤波器在模拟数据下进行调节和测试,相对速度的估计性能良好.Error of test parameters in the trajectory correction technology is too large. Real-time and security can not meet the accuracy requirements of the current situation. Proposed extended hybrid Kalman filter to estimate the projectile parameters of the three states, including the relative speed in air, altitude and trajectory angle. State model of the Kalman filter system and measurement model of axial acceleration measurements as observed quantity were established. IMU measurement data was filtered and processed to get the trajectory correction information with the smaller error and meeting the realtime and safety requirements. The simulation results show that filter is adjusted and tested by the analog data, and the estimation performance of relative velocity is good.

关 键 词：卡尔曼滤波 速度估计 弹道修正 量测模型 

分 类 号：TJ012.36[兵器科学与技术—兵器发射理论与技术]