兵工自动化
兵工自動化
병공자동화
ORDNANCE INDUSTRY AUTOMATION
2015年
1期
65-70
,共6页
何昆鹏%王晓雪%王刚%韩继韬%王晨阳
何昆鵬%王曉雪%王剛%韓繼韜%王晨暘
하곤붕%왕효설%왕강%한계도%왕신양
捷联惯导%初始对准%Sage-Husa自适应滤波%UD分解
捷聯慣導%初始對準%Sage-Husa自適應濾波%UD分解
첩련관도%초시대준%Sage-Husa자괄응려파%UD분해
SINS%initial alignment%Sage-Husa adaptive filter%UD factorized
为提高 Sage-Husa 自适应滤波的稳定性,提出一种基于 UD 分解的改进自适应滤波算法。对在线估计的量测噪声协方差阵和状态估计误差方差阵采取UD分解的形式进行标示和更新,结合捷联惯导静基座初始对准模型,对改进自适应算法进行仿真测试。仿真结果表明:在先验量测噪声和状态估计协方差矩阵存在误差的情况下,新算法能够提高对准精度。
為提高 Sage-Husa 自適應濾波的穩定性,提齣一種基于 UD 分解的改進自適應濾波算法。對在線估計的量測譟聲協方差陣和狀態估計誤差方差陣採取UD分解的形式進行標示和更新,結閤捷聯慣導靜基座初始對準模型,對改進自適應算法進行倣真測試。倣真結果錶明:在先驗量測譟聲和狀態估計協方差矩陣存在誤差的情況下,新算法能夠提高對準精度。
위제고 Sage-Husa 자괄응려파적은정성,제출일충기우 UD 분해적개진자괄응려파산법。대재선고계적량측조성협방차진화상태고계오차방차진채취UD분해적형식진행표시화경신,결합첩련관도정기좌초시대준모형,대개진자괄응산법진행방진측시。방진결과표명:재선험량측조성화상태고계협방차구진존재오차적정황하,신산법능구제고대준정도。
In order to improve the stability of Sage-Husa adaptive filtering, an improved adaptive filtering algorithm that based on UD decomposition was proposed. The measurement noise covariance matrix that online estimated and state estimation error covariance matrix is updating by taking the form of UD decomposition and apply to the strapdown inertial navigation system of stationary base initial alignment model. The results show that when priori covariance matrix and state estimation error covariance matrix have an error, the new filter algorithm can improve the accuracy of the initial alignment.