抗野值自适应Kalman滤波及其在陀螺信号处理中的应用

Fault-Tolerant Adaptive Kalman Filter and Its Application in Gyro Signal Processing

针对陀螺漂移信号中野值的不良影响,从简化的自适应Kalman滤波算法出发,设计了抗野值的自适应Kalman滤波方法.通过在某型号高精度寻北仪上的试验验证,用该方法处理后所得方差为9.0809″,而常规Kalman算法所得方差为17.6919″,计算结果有所提高.试验证明,采用该方法不仅能够有效提高寻北仪的寻北精度,而且对系统的量测噪声不敏感.

To reduce the influence of outliers in gyro signals, a new set of modified algorithms with increased tolerance to outliers has been built from a simplified adaptive Kalman filter algorithm. Experiments have shown that the variances of the new method and standard Kalman method are 9.080 9 seconds and 17.691 9 seconds respectively. This new method can not only increase the filtering precision of gyros but also reduce the effect of system measurement noise.