舰船科学技术
艦船科學技術
함선과학기술
SHIP SCIENCE AND TECHNOLOGY
2009年
7期
85-88
,共4页
平台式惯导系统%扩张状态观测器%卡尔曼滤波器%初始对准
平檯式慣導繫統%擴張狀態觀測器%卡爾曼濾波器%初始對準
평태식관도계통%확장상태관측기%잡이만려파기%초시대준
platform INS%ESO%Kalman filter%initial alignment
根据平台式惯导系统初始对准的误差模型,首先介绍了初始对准的卡尔曼滤波方法,而后研究了把扩张状态观测器与卡尔曼滤波器相结合用于惯导系统的初始对准方法,最后对系统在受干扰和未受干扰2种情况下,分别进行了仿真研究.仿真结果表明,该方法与卡尔曼滤波方法相比,在保证对准精度的条件下,系统姿态角对准时间大大缩短;在系统受到干扰时,该方法仍具有很强的适应性和稳定性.
根據平檯式慣導繫統初始對準的誤差模型,首先介紹瞭初始對準的卡爾曼濾波方法,而後研究瞭把擴張狀態觀測器與卡爾曼濾波器相結閤用于慣導繫統的初始對準方法,最後對繫統在受榦擾和未受榦擾2種情況下,分彆進行瞭倣真研究.倣真結果錶明,該方法與卡爾曼濾波方法相比,在保證對準精度的條件下,繫統姿態角對準時間大大縮短;在繫統受到榦擾時,該方法仍具有很彊的適應性和穩定性.
근거평태식관도계통초시대준적오차모형,수선개소료초시대준적잡이만려파방법,이후연구료파확장상태관측기여잡이만려파기상결합용우관도계통적초시대준방법,최후대계통재수간우화미수간우2충정황하,분별진행료방진연구.방진결과표명,해방법여잡이만려파방법상비,재보증대준정도적조건하,계통자태각대준시간대대축단;재계통수도간우시,해방법잉구유흔강적괄응성화은정성.
According to the error model of the initial alignment of the inertial navigation system (INS) ,the Kalman filter technology of the initial alignment is introduced briefly, and then, a new method that combining the extend state observer(ESO) with the Kalman filter on the research of the initial alignment of the platform INS is researched. Simulation results show that the method obtains better results than the Kalman filter technology. The method makes initial alignment more quickly than before and possesses as high accurate as Kalman filter technology. The method still possesses very strong adaptability and stability when the system suffers disturbing.
