惯性导航系统标定滤波方法研究

Research of Filtering Technique in Inertial Navigation System Calibration

捷联惯导系统标定技术对提高导航精度十分必要,而惯性导航系统标定选择的滤波方法直接影响到标定的精度。本文对不同状态的滤波估计方法进行了理论分析,利用不同标定仿真环境下所采用的卡尔曼滤波及其他滤波方法,对惯性器件误差及安装误差进行了估计,并通过仿真分析比较了惯性导航标定中各种滤波算法的特点及适用范围,得出了算法的应用建议,对惯导误差模型标定具有一定的工程指导意义。

SINS calibration technique is very necessary to improve navigation accuracy, while the filtering methods of choosed affect the accuracy of the calibration directly. This paper analyzed the state estimate methods, then in different simulation environments, using Kalman filtering algorithm and its improved algorithm, estimated inertial component errors and installation errors, and by analyzing the simulation results, the paper competed the characteristics and scope of various filtering algorithms, and provided engineering significance to inertial navigation calibration.