基于小波降噪的IMU精对准性能分析  

Performance analysis of IMU fine alignment based on wavelet de-noising

作　　者：张轩轩 杨诚 ZHANG Xuanxuan;YANG Cheng(School of Land Science and Technology,China University of Geosciences,Beijing 100083,China)

机构地区：[1]中国地质大学(北京)土地科学技术学院

出　　处：《全球定位系统》2019年第4期16-24,共9页Gnss World of China

基　　金：青年科学基金(41804036);优秀教师基金(2652018032)

摘　　要：精对准性能是保障惯性导航精度必不可少的重要条件,论文总结了国内外精对准的研究现状,发现精对准一般是通过卡尔曼滤波和惯性传感器的小失准角线性误差方程实现;基于此,本文通过卡尔曼滤波及小波分析,对低、中、高三种不同性能的惯性传感器进行精对准性能分析,对比发现,高精度的惯性传感器有着较好的对准精度;而低精度的传感器,由于噪声偏差及非线性原因,对准精度较低,甚至出现滤波发散的情况.Precision alignment performance is an essential condition to ensure the accuracy of inertial navigation.This paper summarizes the research status of precision alignment at home and abroad,and finds that precision alignment is usually achieved by Kalman filter and linear error equation of small misalignment angle of inertial sensor.Based on this,Kalman filter and wavelet analysis are used in this paper.The precision alignment performance of three kinds of inertial sensors with different performances is analyzed.It is found that the high precision inertial sensors have better alignment accuracy,while the low precision sensors have lower alignment accuracy due to noise deviation and non-linear reasons,even the situation of filter divergence.

关 键 词：捷联式惯性导航系统 小波分析 降噪 精对准 卡尔曼滤波 

分 类 号：P227.9[天文地球—大地测量学与测量工程]