现代防御技术2013，Vol.41Issue(4)：32-37,6.DOI:10.3969/j.issn.1009-086x.2013.04.007
抗差最小二乘估计在惯组外场标定中的应用
Application of Robust Estimation of Least-Squares to IMU Outfield Calibration
张斌 1刘洁瑜 1李成1
作者信息
- 1. 第二炮兵工程大学,陕西西安 710025
- 折叠
摘要
Abstract
Inertial measurement unit IMU) is often interrupted by the ground vibration when it is calibrated in outfield.The vibration disturbance will lower the calibration accuracy of IMU greatly.To solve this problem,based on the analysis of the gross error influence on the IMU calibration result,a new mathematic model to calibrate error parameters of IMU is established.The new model could distinguish those abnormal error parameters.Finally,error parameter data is processed by using robust estimation of least-squares.By descending weights and weakening effects of abnormal data continuously via equivalent weight function,the influence of abnormal data on IMU calibration accuracy is minimized.Simulation result verifies that robust estimation of least-squares is more robust than least-squares estimation.It can degrade the influence of vibration disturbance effectively and improve the IMU outfield calibration accuracy and the data reliability.关键词
惯组/外场标定/误差参数辨识/振动干扰/抗差最小二乘估计/数据处理Key words
inertial measurement unit (IMU) / outfield calibration / error parameter calibration / vibration disturbance/ robust estimation of least-squares/ data processing分类
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张斌,刘洁瑜,李成..抗差最小二乘估计在惯组外场标定中的应用[J].现代防御技术,2013,41(4):32-37,6.
