模拟弹体内IMU输出与卡尔曼滤波研究

Simulation of IMU Output Signal in Missile and Research on Kalman Filter

IMU在地面系下的投影,通过转换矩阵转换为弹体系下的输出,再考虑到惯性器件常值误差、白噪声与随机误差的影响,即可模拟IMU在弹体内的输出。当地面系下的投影为静态或动态时,可分别模拟弹体内IMU在初始对准时的输出和在飞行过程中的输出。对该信号进行卡尔曼滤波,根据信号的特性调整滤波参数,进而提高滤波效果。这将有助于解决卡尔曼滤波器在实际应用中估计误差增大和滤波发散等问题。

IMU signal which is in ground coordinate system transforms to output in missile coordinate system through transformation matrix, and considering the constant error of inertial component, white noise, and random error, the IMU signal in missile can be simulated. When the ground signal is static or dynamic, the simulative signal is the IMU signal of initial alignment or the signal when flying in missile. The simulative signal is processed by Kalman filter. Adjusting filter parameters based on characteristics of the simulative signal so as to improve filter effect. It is useful to solve accretion of estimation error and filter divergence in practice.