粒子滤波在捷联惯导系统非线性对准中的应用

Study on Particle Filter in SINS Non-linear Alignment

首先建立了捷联惯导系统(SINS)的误差模型,接着介绍了粒子滤波的基本原理和算法,并对 SINS 误差模型进行了理论分析。然后基于非线性 SINS 误差模型的特点和实时性要求,采用了粒子滤波和卡尔曼滤波相结合的方法对 SINS 进行非线性对准。最后,计算机仿真结果表明了该方法的有效性,满足对准精度要求。

The particle filter is discussed in this paper.Error model of strapdown inertial navigation system(SINS) is de- rived and analyzed.Based on the characteristics of the error model of non-linear SINS,the particle filter and kslman fil- ter can combine to be used.The analysis shows that the performance could accord with the requirement of system.Fi- nally,an example is showed to demonstrate the validity of the method.