研究了自适应卡尔曼滤波技术在平台射前自标定数据处理中的应用 ,标定采用四位置标定方法 ,对角度传感器输出建立常速度模型。在噪声统计未知或时变的情况下 ,每个位置采用自适应卡尔曼滤波解算出平台各轴的漂移角速率 ,并在此基础上辨识出漂移参数。仿真表明 ,自适应卡尔曼滤波能较好地满足标定精度要求 The application of adaptive Kalman filter in self-calibration data processing of the platform is studied. Four-position calibration method is used to calibrate the constant-velocity model of the angle sensor output. In the case of unknown or time-varying noise statistics, the adaptive Kalman filter is used to calculate the drift angular velocity of each axis of the platform, and on the basis of this, the drift parameters are identified. Simulation shows that adaptive Kalman filter can better meet the calibration accuracy requirements