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在机翼挠曲变形不可忽略的情况下,采用速度加姿态匹配的方法可进行快速传递对准。用于快速传递对准的卡尔曼滤波器的阶数将高达21维,故需要进行大处理量的滤波计算,这将导致快速传递对准所要求的快速滤波更新率得不到满足。针对这一问题,本文提出采用联邦滤波器进行快速传递对准,以解决采用集中滤波器进行快速传递对准时存在的计算量大且滤波更新率低的问题。文中设计了适用于快速传递对准的联邦滤波器结构和算法,建立了机翼挠曲变形模型,推导了速度匹配子滤波器的12阶系统模型及姿态角匹配子滤波器的15阶系统模型。仿真结果表明,在载机进行摇翼机动情况下,采用本文提出的联邦滤波器与采用集中滤波器进行快速传递对准的效果相当,计算量大大减小。
In the case of wing deflection can not be ignored, the use of speed plus attitude matching method for rapid transfer alignment. The order of Kalman filters for fast pass-through alignment will be as high as 21 dimensions, requiring a large amount of filtering computations which will result in unsatisfactory fast filter update rates required for fast pass-through. In response to this problem, this paper proposes a fast transfer alignment using a federal filter to solve the problem of large amount of calculation and low filing update rate when a centralized filter is used for fast transfer alignment. In this paper, we design a federal filter structure and algorithm for fast transfer alignment, establish a wing deflection model, derive a 12-order system model of velocity matching sub-filter and a 15-order system model of attitude angle matching sub-filter . The simulation results show that the proposed method uses the federated filter proposed in this paper as fast transfer alignment as the centralized filter, and the computational cost is greatly reduced.