摘要
为了消除水平加速度引起的重力测量误差,为重力辅助导航系统提供准确的实时重力信息,在分析水平加速度改正原理的基础上,根据平台坐标系与方位捷联地平坐标系之间的关系,得出了水平加速度改正的计算公式;基于陀螺稳定平台的误差方程,设计了用于估计平台水平误差的自适应卡尔曼滤波器,并提出了采用平台加速度计测量值推算载体水平加速度的方法。平台误差估计及水平加速度改正的仿真结果表明,采用自适应卡尔曼滤波估计平台水平误差,以及用平台加速度计测量值推算载体水平加速度的方法能实现在线水平加速度改正,并能够满足较高的精度要求。
Based on the principle of the horizontal acceleration correction and the relationship between the azimuth strap-down horizon coordinate system and the platform coordinate system, the formula of the horizontal acceleration correction was derived to eliminate the gravimetry error caused by the horizontal acceleration. The adaptive Kalman filter for horizontal error estimation of platform was designed, and the calculation method for horizontal acceleration of vehicles was put forward based on error equations of the gyro-stabilized platform. The horizontal error estimation of platform and the horizontal acceleration correction were simulated. The simulation results show that the proposed horizontal acceleration correction method meets the demand of gravity-aided navigation systems.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第2期159-164,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金项目(60575010
40804015)
教育部博士点基金新教师项目(20070286067
200802861060)
关键词
重力辅助导航
重力测量
平台误差
卡尔曼滤波器
水平加速度改正
gravity-aided navigation
gravimetry
platform error
Kalman filter
horizontal acceleration correction
