激光陀螺随机漂移的渐消Kalman滤波

Application of Fading Kalman Filter in Processing of Laser Gyro Random Drift

随机漂移误差是激光陀螺的主要误差源之一。Kalman滤波算法能够有效抑制激光陀螺的随机误差,但是当计算模型不准确时,采用常规Kalman滤波易导致结果发散。渐消Kalman滤波能够抑制历史信息、重用现时量测信息,得到连续平稳的滤波结果。采用渐消Kalman滤波对激光陀螺随机漂移进行最优估计,取得了较好的效果。结果表明,渐消Kalman滤波的残差标准差更小,输出序列更加平稳,滤波的精度和稳定性更高。

Random drift error of laser gyro is one of the main sources of error.Kalman filter algorithm can effectively restrain the random error of laser gyro.But when the model is not accurate,the conventional Kalman filter may easily result in divergent result.Fading Kalman filter can reduce the power of historical information and increase the power of the current measurement information,which may obtain continuous smooth filtering result.The fading Kalman filter was used to estimate the optimal laser gyro drift and a good result was obtained.The result showed that the fading Kalman filter has a smaller residual standard deviation,higher filtering accuracy and stability,and the output sequence is more stable.