基于卡尔曼滤波技术解算惯导的水平偏差  

Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system

作　　者：郭立红[1] 朱玮[1] 李岩[1] 李艳平[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130022

出　　处：《光学精密工程》2003年第4期379-383,共5页Optics and Precision Engineering

摘　　要：针对测量船惯导系统水平及航向精度检测需求,提出了采用卡尔曼滤波技术解算惯导水平偏差的新方法。对经纬仪校准惯导的基本原理及陀螺的随机飘移分析,利用经纬仪测星方法,在惯导飘移误差小于7′,标定误差可在2″以内,可有效地消除惯导的随机游动误差分量,将使测量船的整体测量精度得到显著的提高。In order to satisfy the need of testing the attitude and course of INS of measurement ship, the paper proposes a new method of using the Kalmen Filter to work out the attitude and course error. Analyzing the fundamental of INS calibration by theodolite and random wave of top. The calibrating attitude and course error of INS would deduce random wave error, so as to increase the measuring precision of the ship.

关 键 词：惯性导航系统 卡尔曼滤波 校准 水平偏差 经纬仪 陀螺 随机飘移 测量船 

分 类 号：V241.622[航空宇航科学与技术—飞行器设计] V556.5