先验有色噪声补偿的卡尔曼滤波组合导航算法

Integrated Navigation Kalman Filtering Algorithm with Priori Colored Noise Compensation

根据飞行器实际情况,将舱内捷联惯导安装等效为弯扭耦合激励扰动下的Timoshenko梁和阻尼弹簧振子混合系统,分析其激励响应获取惯导随机误差中的有色噪声。将有色噪声作为先验信息,通过微分方程描述并导入惯导误差模型,设计增强的卡尔曼滤波组合导航算法,通过仿真飞行验证了算法的稳定性并与传统卡尔曼滤波组合导航进行了对比分析。

Accordi ng to the actual circumstance of the aircraft,the SINS(Strapdown Inertial Navigation System)is equivalent to Timoshenko-beam hybrid system,which is considered under the lateral-torsional coupling vibration,in order to separate the colored noise in random error of SINS.The colored noise is described by differential equations as priori information and imported into the inertial navigation error model,designed enhanced kalman filtering algorithm.Finally,with the flight simulation,the stability of the algorithm is verified and compared with the traditional kalman filtering algorithm.