摘要
本文探讨了如何利用惯性测量组合本身的信息来提高捷联航姿系统的姿态精度。根据平台式阻尼网络的思想,设计了捷联式内阻尼卡尔曼滤波器,将惯导系统捷联解算获得的姿态与加速度计估计的姿态进行组合,在系统非加速度状态下,提高了姿态输出的精度。为了实时监测系统的运动状态从而判断内阻尼姿态的有效性,本文成功将状态x^2检验法应用在内阻尼卡尔曼滤波器中,设计了基于2个状态传播器的故障监测器,并通过对故障检测向量元素的检验代替对整个向量的检验,提高了故障监测的灵敏度和可靠性。最后,实际系统的动静态实验验证了本文所提出的方法的有效性。
The method that increases the attitude accuracy of strapdown inertial attitude and heading reference system （SIAHRS） with the information from inertial measurement unit （IMU） its own is studied. According to the design idea of damping network in platform type, damping Kalman filter in SIAHRS is designed to enhance the attitude accuracy via integrating attitude calculated by common SIAHRS and that estimated by accelerometers. In order to evaluate the effectiveness of damping attitude, the vehicle＇s movement should be detected in real-time. For this reason, the state chi-square test is employed in the damping Kalman filter, and the failure detection method based on two state propagators is designed. Besides, instead of testing the whole vector, the components of the detected vector are tested, which improves the sensitivity and reliability of failure detection. Finally, static and dynamic experiments of actual system demonstrate the effectiveness of the proposed method.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2007年第9期1569-1576,共8页
Chinese Journal of Scientific Instrument
