| 解耦分布式滤波器在惯导初始对准中的应用 |
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| 引用本文： | 汪叔华.解耦分布式滤波器在惯导初始对准中的应用[J].南京航空航天大学学报,1994(Z1). |
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| 作者姓名： | 汪叔华 |
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| 作者单位： | 南京航空航天大学自动控制系 |
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| 摘 要： | 介绍了一种采用Ｌｕｅｎｂｏｒｇｃｒ标准变换阵的最优分布式卡尔曼滤波器及其在捷联惯导系统（ＳＩＮＳ）初始对准中的应用．该滤波器是由原高阶系统通过Ｌｕｃｎｂｅｒｇｅｒ标准变换阵变换后组成的．把系统分割成ｍ。个彼此解耦的低价子系统，从而形成了ｍ个独立的子滤波器，适用于多微处理器并行计算，大大提高了滤波的实时性。本文还对高阶系统中出现的不可观测状态的滤波作出处理。
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| 关 键 词： | 分布，卡尔曼滤波器，惯性导航，初始对准，解耦 |
Decoupling Distributive Fliter Applied to Initial Alignment of Inertial Navigation |
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| Wang Shuhua.Decoupling Distributive Fliter Applied to Initial Alignment of Inertial Navigation[J].Journal of Nanjing University of Aeronautics & Astronautics,1994(Z1). |
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| Authors: | Wang Shuhua |
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| Abstract: | Presents an optimal distributive Kalman filter based on Luenberger normal transform matrix and its application to the initial alignment of strap-down inertial navigation. This filter is complemented after transforming the original high order system through the normal Luenberger transform matrix.It decomposes the system into m lower order subsystems decoupled with each other,so that m independent subfilters are obtained. Then by 'the paralled algorithm with a multiple chip microcomputer,the real time of filtering is achieved. The filtering of unobservable states appearing in the high order system has been reasonably processed. |
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| Keywords: | distribution Kalman filter inertial navigation initial alignment decouple |
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