摘要
提出了采用Kalman滤波对冗余陀螺的常值误差、标度因数误差和安装误差进行估计的实验室标定方法。采用小角度旋转向量法对安装误差进行建模,并设计了Kalman滤波器。在对滤波器的量测方程进行设计时,采用零空间扩增法来改善滤波器中各陀螺误差状态量的可观测性。通过仿真试验,表明该标定方法对所有误差状态量估计的平均相对误差均低于1%,从而证明了该方法的有效性。
To realize the laboratory calibration for redundant gyroscope unit, a method based on Kalman filtering is presented. The misalignment angles of redundant gyroscopes are modelled by small angle rotation vector method, and the Kalman filter of calibration is designed. Furthermore, a method of zero-space amplification is proposed to improve the observability of the filter states when the measurement equations of the calibration filter are designed. By simulation test, it shows that all the states can be estimated accurately with the average-relative-error percent by less than 1%, which proves the effectiveness of this calibration method.
出处
《航天控制》
CSCD
北大核心
2016年第1期9-14,19,共7页
Aerospace Control
关键词
标定
冗余陀螺
卡尔曼滤波
零空间扩增
Calibration
Redundant gyroscopes
Kalman filtering
Zero-space amplification
