研究了自適應(yīng)卡爾曼濾波技術(shù)在平臺射前自標定數(shù)據(jù)處理中的應(yīng)用,標定采用四位置標定方法,對角度傳感器輸出建立常速度模型。在噪聲統(tǒng)計未知或時變的情況下,每個位置采用自適應(yīng)卡爾曼濾波解算出平臺各軸的漂移角速率,并在此基礎(chǔ)上辨識出漂移參數(shù)。仿真表明,自適應(yīng)卡爾曼濾波能較好地滿足標定精度要求。
關(guān)鍵詞:平臺自標定;自適應(yīng)卡爾曼濾波;參數(shù)辨識
Abstract : This paper studies the algorithm of data processing in self2calibration of inertial platform. Based on a four position turnover test method , constitutes a CV model for output of goniometer. In case of the noise statistic being unknown or variable ,adaptive Kalman filter is used to get drift speed of each axle at each test position ,and then drift parameter is calculated. The simulation result shows that adaptive Kalman filter can meet the accuracy requirement in self2 calibration.
Keywords : Self2calibration of platform; Adaptive Kalman filter ; Parameter identification