动基座下粗—精寻北算法研究

Study on Algorithm of Coarse-Precision North-seeking in Condition of Base Swaying

介绍了陀螺寻北仪的工作基本原理及外界干扰对该系统的影响,选取正弦模型为基座晃动模型来模拟外界的干扰,采用粗—精寻北的组合寻北方法实现外界干扰情况下航向角、俯仰角及滚动角的解算;粗寻北采用均值法;精寻北针对噪声数据的统计特性未知的特点,采用抗野值的带Sage-Husa噪声估计器的自适应卡尔曼滤波改进方法,对比了野值对寻北结果的影响,并在不同的晃动幅值和晃动频率下进行了仿真,结果表明该方法精度高、抗干扰能力强,能有效地实现寻北解算。

The work principle of gyro north- seeking instrument and environment interference is introduced, the sine function is chosen as the model ot base swaying to simulate the environment disturbance and the Coarse Precision north seeking algorithm is chosen to calculate the angles of course, roll and pitch. The mean function is applied in Coarse north-seeking algorithm, while the adaptive Kalman filter method with fault tolerant and Sage-Husa noise estimator is applied in the Precision north-seeking algorithm to deal with the unknown statistical character. Simulation is achieved under different swaying scope and frequency which shows that this algorithm possesses such characters as high accurate, high anti-jamming, and effective in north-seeking under the disturbance environment.