卡尔曼滤波在水下惯性导航系统中的研究及实现

The research and implementation of kalman filtering in INS integrated navigation

首先建立惯性导航系统中的速度误差、位置误差、陀螺仪误差模型,然后与现实相联系研究带偏移量的卡尔曼滤波,同时对偏移量进行估计,最后通过实验验证卡尔曼滤波对航向、陀螺仪误差等的修正,极大地提高了水下惯性导航系统的结算能力和准确性。

First, this article established speed error, position error, gyro error model in inertial navigation system. Then linked with reality and researched on Kalman filter with offsets. At the same time estimated offset. Finally, experiments show that Kalman filter amendmented to the beading, gyroscope error, etc. This algorithm greatly improved the hilling capability and accuracy of underwater inertial navigation system.