一种基于卡尔曼滤波的惯导系统综合校正算法

A Comprehensive Calibration Algorithm Based on Kalman fliter for Inertial Navigation System

为了解除惯导系统在综合校正时必须处于水平阻尼条件下的限制,论文提出了一种基于卡尔曼滤波的无阻尼综合校正算法。首先,舰船在航行时处于无阻尼状态,并基于外测速度信息利用Kamlan滤波技术实时估测出系统的水平误差角;其次,将估测出的水平误差角引入到综合校正算法中进行解算,计算出陀螺漂移并进行补偿。通过仿真分析表明,系统在综合校正的过程中不再受到水平阻尼条件的限制,提高了惯导系统的长期定位精度。

In order to lift the restrictions that the inert ial system in comprehensive correction must be in a horizontal damping condition,this paper proposes an undamped comprehensive correction algthm based on Kalman filter. Firstly, the ship is sailing with the undamped state, and the Kalman fliter is used to real time estimate horizontal-angle error based on the velocity observations. Secondly horizontal error of estimated angle is taken into the comprehensive correction algorithm for solving, then the gyro drift is calculated and compensated. The simulation results show that the system is no longer subject to the horizontal damping conditions in the process of comprehensive correction and increase the long-term positioning accuracy of inertial navigation system is increased.