一种联邦滤波在定姿系统中的应用研究

Study on attitude determination based on federated filter

以SINS GPS TCM2电子罗盘组合定姿系统作为研究对象.建立了SINS、GPS、TCM2电子罗盘的数字模型,根据联邦滤波器的结构组成,以SINS作为参考系统,分别与GPS、电子罗盘组成2个滤波器,运用联邦滤波器算法对定姿系统进行了数据仿真,结果表明,联邦滤波的滤波精度与集中卡尔曼滤波精度相同,同时证明了不同的信息分配系数会导致子滤波精度发生改变,而对全局滤波精度没有影响.

Studied the attitude determination system that federated with SINS/GPS/TCM2. Presented mathematics model of the SINS,GPS, TCM2 respectively. According to the construction of the federated Kalman filter, the SINS is the actions system, both GPS and electronices acted as slave filters,and performed the simulation with federated filter arithmetic. The results indicated that the accuracy of the federated Kalman filter is same as one of the concentrated Kalman filter, the different information allotment coefficient will cause the accuracy change of the slave filter, but doesn′t affect the accuracy in overall situation.