低阶卡尔曼滤波器在低成本SIAHRS中的实现研究

Realization and Research of Low Order Kalman Filter for the Low-Cost SIAHRS

在导航系统的工程应用中 ,高阶滤波器将给导航计算机带来沉重的计算负担 ,也会带来较大的模型误差 ,从而影响系统的滤波精度和性能。文章介绍了低成本捷联惯性航姿系统 (SIAHRS)中低阶卡尔曼滤波器的设计和实现 ,针对航姿系统提出了一种低阶滤波器结构 ,结合磁传感器对航姿系统的航向角进行了组合修正 ;并且以实际研制的低成本航姿系统为例 ,讨论了航姿系统的组成 ,将低阶滤波器应用于该航姿系统。实践结果表明 ,这种低阶滤波器能完全保证低成本捷联航姿系统的姿态精度 ,是一种具有实际应用价值的滤波器 。

In the engineering application of navigation system, high order filter can bring a heavy burden to navigation computer, and also bring serious mode error, which will influence the filter's accuracy and performance. This paper mainly introduces the design and realization of reduced order kalman filter for the low-cost Strapdown Inertial Attitude and Heading Reference System (SIAHRS). The structure of the low order filter is presented, which mainly aim at the SIAHRS, and its yaw can be modified through magnetic sensor. This paper discusses SIAHRS's composition in which the reduce order filter is actually used.The result indicates that the presented reduce order filter can ensure accuracy of SIAHRS, and has great value of application with widely prospects.