| 前后向迭代滤波算法在高精度姿态测量中的应用 |
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| 引用本文： | 王玉杰,曹聚亮,胡小平.前后向迭代滤波算法在高精度姿态测量中的应用[J].导航与控制,2012(3):30-33. |
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| 作者姓名： | 王玉杰 曹聚亮 胡小平 |
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| 作者单位： | 国防科学技术大学机电工程与自动化学院;国防科学技术大学机电工程与自动化学院;国防科学技术大学机电工程与自动化学院 |
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| 摘 要： | 为了满足航空物探对于高精度姿态基准的需求,对前后向迭代滤波算法进行了研究.在前向捷联惯导算法的基础上,推导了后向捷联惯导算法,基于SINS/GPS组合导航方案构建了15状态Kalman滤波器,提出了前后向迭代滤波算法,通过仿真实验和转台实验对比了前后向迭代滤波算法与R -T -S平滑的估计效果.实验结果表明:经过前后向...
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| 关 键 词： | 高精度姿态测量 组合导航 前后向迭代滤波 平滑算法 |
A Forward-backward Iterative Filtering Algorithm for High Precise Attitude Determination |
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| WANG Yu-jie,CAO Ju-liang and HU Xiao-ping.A Forward-backward Iterative Filtering Algorithm for High Precise Attitude Determination[J].Navigation and Control,2012(3):30-33. |
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| Authors: | WANG Yu-jie CAO Ju-liang and HU Xiao-ping |
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| Institution: | College of Mechatronics Engineering and Automation, National University of Defense Technology;College of Mechatronics Engineering and Automation, National University of Defense Technology;College of Mechatronics Engineering and Automation, National University of Defense Technology |
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| Abstract: | The forward-backward iterative filtering algorithm is studied in the article to meet with the requirement of high precise attitude determination in aerial geophysical prospecting. The system is. The backward SINS algorithm is derived on the basis of forward inertial navigation algorithm. The Kalman filter of 15 states is constructed based on the SINS/GPS integrated navigation system. The new algorithm was compared with the R-T-S smoother and the normal Kalman filter through simulation and turntable experiments. It shows that the proposed algorithm can significantly improve attitude estimation accuracy, which can provide high-precision references for aerial geophysical prospection instrument under long endurance and high dynamic conditions. |
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| Keywords: | high precise attitude determination integrated navigation forward-backward iterative filter smoothing algorism |
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