陀螺稳定平台漂移误差参数的辨识方法研究

Identification of Drift Error Parameters for Gyroscope Stable Platform

给出了一种平台工作在惯性稳定状态下的静态多位置测漂方案 ,建立了包含陀螺漂移、地球自转因素在内的平台漂移数学模型和系统状态方程 ,解决了三轴开路状态下的耦合问题。取框架角传感器的输出作为观测量 ,利用广义Kalman滤波器对含有噪声的测量数据进行处理 ,将参数辨识问题转化为状态估计 ,仿真结果表明 。

This paper presents a static,multi-station drift measuring method in inertial stable status, builds platform drift mathematical model and system status equation considering gyroscope drift and earth rotation, solves coupling problem in three-axis open-circuit. Simulation shows that this method has better identifying result.