| Kalman滤波器虚拟噪声补偿技术在陀螺随机常值漂移标定中的应用 |
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| 引用本文： | 高炳祥,万德钧.Kalman滤波器虚拟噪声补偿技术在陀螺随机常值漂移标定中的应用[J].中国造船,1995(4):86-90. |
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| 作者姓名： | 高炳祥 万德钧 |
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| 作者单位： | 东南大学 |
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| 摘 要： | 采用Kalman滤波器对船用捷联惯性导航系统中的陀螺随机常值漂移进行标定，面临的一个重要问题是由于模型不准确，包括噪声统计特性不准确，导致估计值精度下降甚至发散。针对这一问题，本文运用自适应Kalman滤波的虚拟噪声补偿技术对陀螺随机常值漂移进行标定，收到较好的效果。
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| 关 键 词： | Kalman滤波 陀螺漂移 捷联 |
FICTITIOUS NOISE COMPENSATION APPROACH OF KALMAN FILTER USED IN RANDOM CONSTANT DRIFT CALIBRATION OF GYRO |
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| GAO Bingxiang, WAN Dejun.FICTITIOUS NOISE COMPENSATION APPROACH OF KALMAN FILTER USED IN RANDOM CONSTANT DRIFT CALIBRATION OF GYRO[J].Shipbuilding of China,1995(4):86-90. |
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| Authors: | GAO Bingxiang WAN Dejun |
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| Institution: | Southeast University |
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| Abstract: | The model error is the main problem in calibrating gyroscopic random constant drift in marine strapdown inertial navigation system. The model error results in filtering error and divergence. In this paper, a new calibrating method is presented by introducing fictitious noises into adaptive Kalman filtering. The simulation results show that this method is satisfactory. |
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| Keywords: | Kalman filtering Gyroscopic drift Strapdown |
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