哈尔滨工业大学学报（英文版）2002，Vol.9Issue(3)：225-228,4.
Identification of coefficients in platform drift error model
Identification of coefficients in platform drift error model
摘要
Abstract
The identification of the coefficients in the drift error model of a floated gyro inertial nawgation plat-form was investigated by following the principle of the inertial navigation platform and using gyro and accelerom-eter output models, and a complete platform drift error model was established, with parameters as state varia-bles, thereby establishing the system state equation and observation equation. Since these two equations areboth nonlinear, the Extended Kalman Filter (EKF) was adopted. Then the problem of parameter identificationwas converted into a problem of state estimation. During the simulation, multi-position testing schemes were de-signed to motivated the parameters by gravity acceleration. Using these schemes, twenty-four error coefficientsof three gyros and six error coefficients of three accelerometers were identified, which showed the feasibility ofthis method.关键词
drift error/Extended Kalman Filter/parameter identificationKey words
drift error/Extended Kalman Filter/parameter identification分类
交通工程引用本文复制引用
邓正隆,徐松艳,付振宪..Identification of coefficients in platform drift error model[J].哈尔滨工业大学学报（英文版）,2002,9(3):225-228,4.基金项目
Sponsored by the National Defense Technique Research Fund( Grant No. 00J9.3.4. HT015 ). （ Grant No. 00J9.3.4. HT015 ）
