摘要
推导了磁阻／DR的组合方法，利用加速度计与磁强计测量的载体姿态角适时的对陀螺所测的载体姿态角进行修正，抑制了陀螺所测量载体姿态角误差的迅速扩大。探讨了GPS／SINS组合导航系统中抗差自校正卡尔曼滤波的应用，并对此进行了仿真。最后的仿真结果表明：抗差自校正卡尔曼滤波效果优于标准卡尔曼滤波效果。
A kind of MR/DR navigation mode was deduced. An accelerometer and a magnetometer were used for calculating the carrier＇s attitude angle for correcting the carrier＇s attitude angle calculated by the gyro. The application of robust self-tuning Kalman filter in GPS/SINS system was discussed. The simulation results show that the robust self-tuning Kalman filter＇s filtering effect is superior to that of the standard Kalman filter.
出处
《弹箭与制导学报》
CSCD
北大核心
2010年第4期11-14,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
