摘要
为解决无人机长时间航行时,由于环境等因素的变化,导致陀螺漂移、标度因数误差和陀螺安装轴不正交误差的问题,借助天文导航系统(CNS:Celestial Navigation System)提供的高精度姿态信息,基于四元数误差建立陀螺在线标定误差模型,提出一种基于模型预测的捷联惯性导航系统(SINS:Strap Down Inertial Navigation System)/CNS组合陀螺在线标定混合滤波方法。仿真结果表明,该方法能够很好地适用于在线标定,不仅满足标定精度要求,而且降低了滤波的计算量,提高了滤波的数值稳定性。
When the vehicles are sailing for a long time,the changes in environmental and other factors will cause gyro drift,scale factor and installation errors.Therefore gyro＇s on-line calibration is necessary.We uses high precision attitude information provided by CNS（Celestial Navigation System）,installs gyro＇s on-line calibration models based on quaternion error,a method of hybrid filter of SINS（Strap Down Inertial Navigation System） / CNS integrated gyro＇s on-line calibration based on MPF（Model Prediction Filter） is presented.Results of simulation show that this method is good for on-line calibration,not only meets the requirements of calibration acuracy,but also reduces the amount of calculation,improves the numerical stability.
出处
《吉林大学学报（信息科学版）》
CAS
2013年第5期513-518,共6页
Journal of Jilin University（Information Science Edition）
基金
中央高校基本科研业务费专项资金资助项目(DL13BB14)
关键词
在线标定
四元数误差
模型预测
混合滤波
on-line calibration
quaternion error
model prediction filter（MPF）
hybrid filter
