测试科学与仪器2021，Vol.12Issue(2)：133-145,13.DOI:10.3969/j.issn.1674-8042.2021.02.002
基于限制自适应卡尔曼滤波器的连续旋转寻北算法研究
Continuous rotation north-finding algorithm based on constrained adaptive Kalman filter
摘要
Abstract
As an orientation measurement system,north-finder has been playing a significant role in both military and civilian fields of orientation and control.In this paper,to deal with drawbacks in the conventional north-finding systems,a dynamic strategy based on continuous rotation modulation to measure the rotational angular velocity of the earth is proposed.By modeling the dynamic error,optimizing the process constraint and estimating dynamic noise,a method combining delay compensation and hardware adj ustment,and a constrained adaptive Kalman filter (CAKF)algorithm are designed for the north-finding strategy.According to simulation and experiments,the proposed algorithm can achieve the high-precision north-finding with robust and anti-noise performance.关键词
寻北/限制自适应卡尔曼滤波器/连续旋转调制/动态误差/倾斜基底Key words
north-finding/constrained adaptive Kalman filter (CAKF)/continuous rotation modulation/dynamic error/tilted base引用本文复制引用
郭凤志,李醒飞,李婧娴..基于限制自适应卡尔曼滤波器的连续旋转寻北算法研究[J].测试科学与仪器,2021,12(2):133-145,13.基金项目
National Natural Science Foundation of China(No.61733012) （No.61733012）
