CAJ | 학술논문

针对激光陀螺捷联惯性导航系统在晃动基座下进行初始对准时激光陀螺和加速度计噪声过大,而采用低通滤波或小波方法不能有效实时地实现噪声抑制的问题,提出一种采用IIR低通滤波器和基于隐式马尔可夫模型的稳态卡尔曼滤波相结合的新的预滤波方法.首先,将传感器输出通过低通滤波,然后,再通过一个基于隐式马尔可夫模型的稳态卡尔曼滤波,从而有效地降低基座晃动带来的噪声,而不降低对准精度.实验结果表明,本文提出的预滤波方法计算复杂度低,滤波效果明显,在发动机开动的情况下,可以把导航系统激光陀螺的噪声标准差由300°/h降至1°/h,加速度计的噪声标准差由11 mg降至40 μg.结果表明,提出的预滤波器能够很好地辅助激光陀螺捷联导航系统在晃动基座下完成精对准.
침대격광타라첩련관성도항계통재황동기좌하진행초시대준시격광타라화가속도계조성과대,이채용저통려파혹소파방법불능유효실시지실현조성억제적문제,제출일충채용IIR저통려파기화기우은식마이가부모형적은태잡이만려파상결합적신적예려파방법.수선,장전감기수출통과저통려파,연후,재통과일개기우은식마이가부모형적은태잡이만려파,종이유효지강저기좌황동대래적조성,이불강저대준정도.실험결과표명,본문제출적예려파방법계산복잡도저,려파효과명현,재발동궤개동적정황하,가이파도항계통격광타라적조성표준차유300°/h강지1°/h,가속도계적조성표준차유11 mg강지40 μg.결과표명,제출적예려파기능구흔호지보조격광타라첩련도항계통재황동기좌하완성정대준.
As the laser gyroscopes and accelerometers in a ring laser gyroscope Strapdown Inertial Navigation System(SINS) generate high noises by the dither motion of a base and a low pass fitering and a wavelet method can not suppress the noises in real time effectively,this paper presents a prefiltering method combining a low pass filtering and a Kalman filtering based on a hidden Markov model.Firstly,the output of a sensor is filtered by the lowpass filter,then it is filtered by the steady-state Kalman filter based on the hidden Markov model.By this way,the large sensor noise brought by the dither motion of the base can be lowed down to a very low level.Experiment results show that this prefiltering method can work efficiently with a low computational complexity.When the vehicle engine is on,the standard variances of the ring laser gyroscope and accelerometer are suppressed from 300°/h to 1°/ h and from 11 mg to 40 μg,respectively.It is concluded that the proposed prefiltering can help SINS accomplish the initial alignment on a rocking base.