摘要
针对数字磁罗盘(Digital Magnetic Compass,DMC)与光纤陀螺(Fiber Optic Gyro,FOG)单独使用时各自存在的缺点,为提高低成本航向测量方法的精度,提出DMC与FOG组合的概念,根据DMC与FOG的误差特性,设计了一种自适应卡尔曼滤波器将它们组合起来,获得最佳的指向精度。以低精度FOG真实静态漂移作为误差输入,进行了仿真实验,结果显示,自适应卡尔曼滤波误差收敛,能够很好地抑制DMC与FOG的偏置,同时平滑作用和信息融合作用效果明显,证明了此方法的有效性和可行性。
In view of the defects brought by Digital Magnetic Compass （DMC） and Fiber Optic Gyro（FOG） when they are used separately, to enhance the accuracy of Heading Measuring method with low cost, the concept of DMC integrated with FOG is proposed. A new adaptive kalman filter has been designed to adapt the error characteristics of DMC and FOG and get better heading accuracy. Simulations which have the error input from real static excursion of low accurate FOG show that the adaptive Kalman filter can effectively restrain the deflection of DMC and FOG, and has marked effect on the filtering performance and information fusion. The validity and feasibility of this method are proved.
出处
《计算机仿真》
CSCD
2008年第2期13-15,19,共4页
Computer Simulation
关键词
卡尔曼滤波器
信息融合
自适应滤波
航向测量
数字磁罗盘
光纤陀螺
Kalman filter
Information fusion
Adaptive filtering
Heading measure
Digital magnetic compass（DMC）
Fiber optic gyro（FOG）
