| 卡尔曼滤波初始条件对捷联惯导对准的影响 |
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| 引用本文： | 夏家和,秦永元,龙瑞.卡尔曼滤波初始条件对捷联惯导对准的影响[J].宇航学报,2010,31(8). |
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| 作者姓名： | 夏家和 秦永元 龙瑞 |
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| 作者单位： | 西北工业大学自动化学院,西安,710072 |
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| 摘 要： | 针对捷联惯导对准卡尔曼滤波器初始条件无法很准确给定的情况,研究了卡尔曼滤波器初始条件对捷联惯导对准精度的影响。分析了错误先验假设条件下卡尔曼滤波算法的误差,推导了滤波器计算均方误差与实际均方误差的关系。对于一般多元回归系数估计问题,比较了卡尔曼滤波算法与最小二乘算法,给出了当先验假设不准确时卡尔曼滤波算法优于最小二乘算法的一个充分条件。对捷联惯导静基座对准问题进行了仿真,仿真结果表明:合理选择初始均方误差矩阵能大大改善卡尔曼滤波启动阶段性能。初始均方误差矩阵选择为真实初始均方误差矩阵的一个较小上界是合理的。
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| 关 键 词： | 捷联惯导 卡尔曼滤波 对准 初始条件 |
The Effect of Kalman Filtering Initial Conditions on SINS Alignment |
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| XIA Jia-he,QIN Yong-yuan,LONG Rui.The Effect of Kalman Filtering Initial Conditions on SINS Alignment[J].Journal of Astronautics,2010,31(8). |
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| Authors: | XIA Jia-he QIN Yong-yuan LONG Rui |
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| Institution: | XIA Jia-he,QIN Yong-yuan,LONG Rui(School of Automation,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | It is difficult to correctly specify the initial condition of Kalman filter in strapdown inertial navigation system(SINS) alignment.The effect of initial conditions on SINS alignment accuracy is analyzed.The Kalman filter estimation error due to incorrect initial condition is analyzed.The relation of the real mean square error matrix (MSEM) and the MSEM computed by the filter are deduced.The Kalman filter and the least square estimation are compared for regression coefficients estimation,and a sufficient co... |
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| Keywords: | Strapdown inertial navigation system Kalman filtering Alignment Initial condition |
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