自适应两阶段卡尔曼滤波器在传递对准中的应用

研究自适应两阶段卡尔曼滤波器在动基座传递对准中的应用. 利用两阶段卡尔曼滤波器将子惯导的惯性器件偏差分离,从而减小由于系统状态过多而导致的滤波计算量,提高计算实时性. 加入自适应环节,使得随机系统偏差的先验统计特性不准确时也能取得良好的估计效果. 仿真结果表明,在对准模型存在未知的随机系统偏差时,自适应两阶段卡尔曼滤波器能够快速且准确地估计出失准角,符合传递对准在快速性和精度方面的需求.

A Study of Adaptive Two-Stage Kalman Filter in Transfer Alignment

The application of adaptive two-stage Kalman filter in transfer alignment is studied. Using the adaptive two-stage Kalman filter, the estimation of the bias is separated from the dynamic state, thereby the size of the matrices and vectors involved in the filtering computations is reduced. The consideration of adaptive filter helps to achieve good performance when the information of the random bias is unknown or incorrect in general. The simulation results show that the misalignment angles of slave navigation system can be estimated fast and accurately by adaptive two-stage Kalman filter.