快速传递对准的联邦滤波器设计

在机翼挠曲变形不可忽略的情况下,采用速度加姿态匹配的方法可进行快速传递对准.用于快速传递对准的卡尔曼滤波器的阶数将高达21维,故需要进行大处理量的滤波计算,这将导致快速传递对准所要求的快速滤波更新率得不到满足.针对这一问题,本文提出采用联邦滤波器进行快速传递对准,以解决采用集中滤波器进行快速传递对准时存在的计算量大且滤波更新率低的问题.文中设计了适用于快速传递对准的联邦滤波器结构和算法,建立了机翼挠曲变形模型,推导了速度匹配子滤波器的12阶系统模型及姿态角匹配子滤波器的15阶系统模型.仿真结果表明,在载机进行摇翼机动情况下,采用本文提出的联邦滤波器与采用集中滤波器进行快速传递对准的效果相当,计算量大大减小.

RAPID TRANSFER ALIGNMENT USING FEDERATED KALMAN FILTER

The dimension number of the centralized Kalman filter (CKF) for the rapid transfer alignment (TA) is as high as 21 if the aircraft wing flexure motion is considered in the rapid TA. The 21-dimensional CKF brings the calculation burden on the computer and the difficulty to meet a high filtering updating rate desired by rapid TA. The federated Kalman filter (FKF) for the rapid TA is proposed to solve the dilemma. The structure and the algorithm of the FKF, which can perform parallel computation and has less calculation burden, are designed. The wing flexure motion is modeled, and then the 12-order velocity matching local filter and the 15-order attitude matching local filter are devised. Simulation results show that the proposed FKF for the rapid TA almost has the same performance as the CKF. Thus the calculation burden of the proposed FKF for the rapid TA is markedly decreased.