舰船电子工程
艦船電子工程
함선전자공정
SHIP ELECTRONIC ENGINEERING
2012年
10期
44-46
,共3页
单轴旋转激光惯导%自适应滤波算法%初始对准
單軸鏇轉激光慣導%自適應濾波算法%初始對準
단축선전격광관도%자괄응려파산법%초시대준
single-axis laser inertial navigation system%adaptive filtering algorithm initial alignment
针对传统的卡尔曼滤波在单轴旋转激光惯导动基座初始对准中当系统噪声和量测噪声未知时,会导致滤波精度下降甚至发散的问题,设计了简化Sage-Husa自适应滤波算法,建立了动基座条件下的单轴旋转激光捷联惯导的误差方程,利用设计的算法进行了仿真,结果表明在误差模型较大时,自适应滤波算法可以很好的提高滤波精度和稳定性。
針對傳統的卡爾曼濾波在單軸鏇轉激光慣導動基座初始對準中噹繫統譟聲和量測譟聲未知時,會導緻濾波精度下降甚至髮散的問題,設計瞭簡化Sage-Husa自適應濾波算法,建立瞭動基座條件下的單軸鏇轉激光捷聯慣導的誤差方程,利用設計的算法進行瞭倣真,結果錶明在誤差模型較大時,自適應濾波算法可以很好的提高濾波精度和穩定性。
침대전통적잡이만려파재단축선전격광관도동기좌초시대준중당계통조성화량측조성미지시,회도치려파정도하강심지발산적문제,설계료간화Sage-Husa자괄응려파산법,건립료동기좌조건하적단축선전격광첩련관도적오차방정,이용설계적산법진행료방진,결과표명재오차모형교대시,자괄응려파산법가이흔호적제고려파정도화은정성。
When the noise and noise measurement matrix are unknown in the initial alignment of single-axis laser inertial navigation system,it can decrease the filtering accuracy,or even make the filtering divergent.Considering above reasons,a simplified Sage-Husa adaptive filtering algorithm is proposed.Establish the error model of single-axis laser inertial navigation system under moving.We use the proposed algorithm to simulate.The simulation results show that the adaptive filtering algorithm can improve the accuracy and stability.
