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航姿系统一般不实时计算速度和位置信息,无法补偿地球自转和表观运动引起的分量误差,同时陀螺漂移较大,载体长时间持续机动时,出现姿态精度不高,甚至发散的问题。提出了一种基于卡尔曼滤波的姿态融合算法,将等效陀螺漂移列入系统状态,利用卡尔曼滤波的新息对运动状态进行判别,在一定条件下,用加速度计的输出作为量测量进行卡尔曼滤波的量测更新过程。实验结果表明,所提出的姿态融合算法考虑了陀螺漂移,能提高载体长时间机动时的姿态精度。
Navigation attitude system generally does not calculate speed and position information in real time, which can not compensate component errors caused by the earth’s rotation and apparent motion. At the same time, the gyroscope drift is large. When the carrier continues to maneuver for a long time, the attitude accuracy is low or even divergent. An attitude fusion algorithm based on Kalman filter is proposed. The equivalent gyro drift is included in the system state. The Kalman filter is used to determine the motion state. Under certain conditions, the output of the accelerometer is used as the measurement Kalman filter measurement update process. Experimental results show that the proposed attitude fusion algorithm considers the gyro drift and improves the attitude accuracy when the vehicle is maneuvering for a long time.