哈尔滨工业大学学报(英文版)
哈爾濱工業大學學報(英文版)
합이빈공업대학학보(영문판)
JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY
2002年
3期
225-228
,共4页
drift error%Extended Kalman Filter%parameter identification
The identification of the coefficients in the drift error model of a floated gyro inertial nawgation plat-form was investigated by following the principle of the inertial navigation platform and using gyro and accelerom-eter output models, and a complete platform drift error model was established, with parameters as state varia-bles, thereby establishing the system state equation and observation equation. Since these two equations areboth nonlinear, the Extended Kalman Filter (EKF) was adopted. Then the problem of parameter identificationwas converted into a problem of state estimation. During the simulation, multi-position testing schemes were de-signed to motivated the parameters by gravity acceleration. Using these schemes, twenty-four error coefficientsof three gyros and six error coefficients of three accelerometers were identified, which showed the feasibility ofthis method.
