自适应算法在单轴激光惯导初始对准中的应用

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。

Application of Adaptive Filtering Algorithm to Initial Alignment of Single-axis Laser Inertial Navigation System under Moving Base

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.