CAJ | 학술논문

针对角速率陀螺误差随时间积累和电子磁罗盘易受外界干扰的问题,为提高低成本自主导航精度,设计了角速率陀螺和电子磁罗盘信息融合的组合方案.并对传统的补偿滤波方法进行改进,提出一种能够检测出电子磁罗盘的低频干扰,并对干扰误差进行剔除的抗差补偿滤波算法.通过对角速率陀螺和电子磁罗盘进行误差建模和仿真实验可知,抗差补偿滤波器可以有效地抑制磁罗盘高频干扰误差和角速率陀螺的积累误差,同时,也可很好地抑制磁罗盘的低频干扰误差.结果表明:研究的抗差补偿滤波算法效果明显,是一种简单可靠的航向融合方法.
침대각속솔타라오차수시간적루화전자자라반역수외계간우적문제,위제고저성본자주도항정도,설계료각속솔타라화전자자라반신식융합적조합방안.병대전통적보상려파방법진행개진,제출일충능구검측출전자자라반적저빈간우,병대간우오차진행척제적항차보상려파산법.통과대각속솔타라화전자자라반진행오차건모화방진실험가지,항차보상려파기가이유효지억제자라반고빈간우오차화각속솔타라적적루오차,동시,야가흔호지억제자라반적저빈간우오차.결과표명:연구적항차보상려파산법효과명현,시일충간단가고적항향융합방법.
In view of the accumulation of errors produced by gyroscope and the interference of digital magnetic compass (DMC) ,in order to enhance the accuracy of navigation with low cost, the program of gyroscope integrated with DMC is designed. A robust compensation filter is designed to inhibit low-frequency interference of DMC and to improve the accuracy of information integration. Simulation with gyroscope and DMC show that high-frequency interference and the accumulation of errors can be inhibited by compensation filter, in addition to the high- frequency interference and the accumulation of errors, low-frequency interference for long time can also be inhibited by the robust compensation filter,which is proofed as simple and reliable methods.