舰船电子工程
艦船電子工程
함선전자공정
SHIP ELECTRONIC ENGINEERING
2012年
1期
38-40
,共3页
MEMS%微惯导网络%卡尔曼滤波
MEMS%微慣導網絡%卡爾曼濾波
MEMS%미관도망락%잡이만려파
MEMS%micro inertial navigation network system%Kalman filter
为了减少误差积累,提高导航精度,通过船舶上的CAN总线网络,利用高精度主惯导系统对低精度的MEMS微惯导系统进行在线修正。根据微惯导网络系统姿态角的误差模型,将惯导系统的角速率输出值作为量测信息设计卡尔曼滤波器,对姿态角修正算法进行了仿真运算,估计出了MEMS微惯导系统姿态角误差。
為瞭減少誤差積纍,提高導航精度,通過船舶上的CAN總線網絡,利用高精度主慣導繫統對低精度的MEMS微慣導繫統進行在線脩正。根據微慣導網絡繫統姿態角的誤差模型,將慣導繫統的角速率輸齣值作為量測信息設計卡爾曼濾波器,對姿態角脩正算法進行瞭倣真運算,估計齣瞭MEMS微慣導繫統姿態角誤差。
위료감소오차적루,제고도항정도,통과선박상적CAN총선망락,이용고정도주관도계통대저정도적MEMS미관도계통진행재선수정。근거미관도망락계통자태각적오차모형,장관도계통적각속솔수출치작위량측신식설계잡이만려파기,대자태각수정산법진행료방진운산,고계출료MEMS미관도계통자태각오차。
In order to reduce the accumulation of error and to improve the navigation accuracy,main inertia navigation system with high accuracy is used to correct the MEMS micro inertial navigation network system with low accuracy online through CAN bus network of the ship.Designed Kalman filter with the measurement of inertial navigation system＇s angular rate according to the inertial navigation system＇s error models of the attitude angles,simulated the algorithms for attitude angle correction,estimated the MEMS inertial navigation system＇s error of attitude angle.
