船用陀螺漂移误差模型辨识及其应用

Identification of Marine Gyroscopic Drift Error Model and Its Application

在对船用陀螺漂移数据建立时间序列模型的基础上，采用卡尔曼滤波算法对捷联陀螺漂移数据进行了处理，以提高陀螺静态漂移误差系数的估计精度，并把得到的陀螺漂移误差模型实时补偿到捷联系统中，得到了满意的效果。

Based on the time series model derived from the drift data of marine gyroscope,the strapdown gyroscopic drift data are processed by adopting kalman filtering algorithm. Thus the evaluated precision of static gyroscopic drift parameters are improved. The gyroscopic drift model obtained is used to compensate the error of strapdown system and improve their precision.the results are quite satisfactory