计算机与数字工程2016，Vol.44Issue(10)：1912-1916,5.DOI:10.3969/j.issn.1672-9722.2016.10.010
一种基于卡尔曼滤波的惯导系统综合校正算法
A Comprehensive Calibration Algorithm Based on Kalman fliter for Inertial Navigation System
秦立新1
作者信息
- 1. 海军驻上海江南造船 集团 有限责任公司军事代表室 上海 201913
- 折叠
摘要
Abstract
In order to lift the restrictions that the inertial system in comprehensive correction must be in a horizontal damping condition ,this paper proposes an undamped comprehensive correction algthm based on Kalman filter .Firstly ,the ship is sailing with the undamped state ,and the Kalman fliter is used to real time estimate horizontal‐angle error based on the velocity observations .Secondly horizontal error of estimated angle is taken into the comprehensive correction algorithm for solving ,then the gyro drift is calculated and compensated .The simulation results show that the system is no longer subject to the horizontal damping conditions in the process of comprehensive correction and increase the long ‐term positioning accura‐cy of inertial navigation system is increased .关键词
惯性导航系统(INS)/综合校正/卡尔曼滤波/无阻尼Key words
inertial navigation system (INS)/comprehensive calibration/Kalman filter/undamped分类
信息技术与安全科学引用本文复制引用
秦立新..一种基于卡尔曼滤波的惯导系统综合校正算法[J].计算机与数字工程,2016,44(10):1912-1916,5.
