惯性测量系统中实时估计方法的耦合分析与比较

The Comparison and CoupIing Analysis of Real Time Estimation Methods for Inertial Survey Systems

一本文通过对不同精度惯性系统的仿真，根据不同的载体和应用条件，分别实施考虑通道耦合和不考虑通道耦合的实时卡尔曼滤波估计，得到耦合因素对估计误差影响不大的结论。最后利用改装的俄制и－２１惯性系统在北京郊区的实际跑车数据，分别实施卡尔曼滤波和曲线拟合处理，对其估计误差进行了分析和比较。

Based on the simulation of different inertial navigation systems and different vehicle conditions, the teal time Kalman filter with or without the consideration of coupling effects between the computing channels is applied respectively. It is concluded that the coupling effects could be ignored without much error difference. With a modified N-21 Russion made aircraft navigation system,the field test data is obtained near Beijing for the comparison of Kalman filter and curve fitting methods.