低成本AHRS中Kalman滤波器的降维状态观测器设计

最优控制系统如捷联惯导系统（AHRS）都离不开状态反馈。然而系统的状态变量并不都是易于直接检测到的，这就需要状态观测器。基于减轻导航计算机计算负担和降低成本的考虑，提出Kalman滤波器的降维观测器的设计，并且讨论了误差模型的噪声补偿和降低估值误差的方法。

Reduced order state observer design for Kalman filter in strapdown navigation system

Optimization control system such as strapdown inertial navigation system cannot work without state feedback. Tthe state variables of system are not easy to inspect,so it needs state observer. In order to ease the burden on navigation computer and reduce the cost, this paper provides a design of the reduced order observer of Kalman filter, and discusses the methods of compensaing for error model and of decreasing the error of estimated value.