捷联惯导系统中卡尔曼滤波器的降维状态观测器设计

Reduced State Observer Design for Kalman Filter in SINS

最优控制系统如捷联惯导系统都离不开状态反馈。然而系统的状态变量并不都是易于直接检测到的，这就需要状态观测器。本文基于减轻导航计算机计算负担和降低成本的考虑，提出卡尔曼滤波器的降维观测器的设计，并且讨论了误差模型的噪声补偿和降低估值误差的方法。

Optimization control system such as strapdown inertial navigation system cannot work without state feedback. But the state variables of system are not all easy to be inspected, so it needs state observer. In order to lighten the burden of navigation computer and reduce the cost, this paper introduces the designing of reduced order observer of Kalman filter, and talks about the methods of yawp compensation for error model and decreasing the error of estimate value.