| 定位定向系统的数字仿真及试验 |
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| 引用本文： | 顾启泰,周力强,刘学斌.定位定向系统的数字仿真及试验[J].清华大学学报(自然科学版),1993(2). |
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| 作者姓名： | 顾启泰 周力强 刘学斌 |
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| 作者单位： | 精密仪器与机械学系
(顾启泰，周力强)，精密仪器与机械学系(刘学斌) |
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| 摘 要： | 文中介绍了状态和偏差去耦的卡尔曼德波方法，其特点是计算量小、估计精度高，适用于偏差项较多的场合。在定位定向系统中应用此法估计３个陀螺和３个加速度计的未知常值偏差取得满意的仿真结果。跑车试验表明，系统定位精度提高了３个数量级，接近美国 ＰＡＤＳ系统的设计指标。
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| 关 键 词： | 卡尔曼滤波器 去耦估计 定位定向系统 零速修正 |
Simulation and testing of a position and azimuth determining system |
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| Gu Qitai,Zhou Liqiang,Liu Xuebin.Simulation and testing of a position and azimuth determining system[J].Journal of Tsinghua University(Science and Technology),1993(2). |
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| Authors: | Gu Qitai Zhou Liqiang Liu Xuebin |
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| Institution: | Department of Precision Instruments and mechanology |
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| Abstract: | The state and bias decoupled Kalman filter method is described in this paper. It is characterized by less computation, high estimation accuracy and suitability for cases with large number of bias terms. A constant but unknown bias vector with three gyro components and three accelerometer components is estimated by this method with successful simulation results. Vehicle field tests show that the positioning accuracy can be improved by 2-3 orders of magnitude, being close to the design specification of American PADS. |
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| Keywords: | Kalman filter decoupled estimation position and azimuth determining zero velocity updating |
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