基于灵敏度分析的惯导平台参数分步辨识方法

研究的是多位置静态测漂法平台参数辨识的问题。对平台漂移的非线性模型 进行了分析，提出了静基座下平台参数辨识的局限性、参数辨识位置选取的原则。最后考虑 到利用EKF辨识包含陀螺交叉项的参数时存在难以收敛甚至有些参数出现发散的问题，提出 了分步辨识的方法来解决这一问题。并且文中仿真结果证明了这种方法能有效抑制辨识中的 发散现象。

The Sub-step Identification of Inertial Platform Drift Error Coefficients Based on Sensitivity Analysis

The parameter identification technique of inertial platform under the static multi-position test scheme is studied in this paper.We performed a sensitivity analysis for the nonlinear platform drift model,and pointed out the limitation of the parameter identification under the static test scheme and the selection principle of positions for the parameter identification.To solve the problem that the rate of convergence is too slow and even some parameters are divergence,sub-step identification, a new method was introduced.And the result of a simulation carried out in paper shows that the proposed method can constrain the divergence in identification effectively.