摘要
针对载体行进间初始对精对准过程易受有色噪声影响,造成对准精度高的问题,提出一种基于高阶球面-径向积分的强跟踪滤波方法,该算法基于里程计辅助下惯性系行进间精对准误差模型,将状态变量的自相关函数进行正交化运算,保证噪声信号的白化,并运用五阶球面-径向准则对于滤波过程中参数的后验概率密度函数进行近似数值计算。仿真实验表明,在方位角为大失准角的条件下,该算法可以有效地保证较高的滤波精度,并且在噪声未知的情况下,滤波器保证很好的鲁棒性。
Aiming at the problem that the initial precision alignment of the carrier is susceptible to the colored noise and the alignment accuracy is high, a kind of strong tracking filtering method which is based on higher order sphere -radial integral is proposed in this paper. The algorithm is based on the precision alignment error model of the moving inertial frame under the aid of the odometer. The autocorrelation function of the state variable takes an orthogonal transformation, which guarantees the noise signal is the Gaussian white noise, and the approximate numerical calculation of the posterior probability density function of the parameters in the filtering process is carried out by using the 5-order sphere-radial criterion. The simulation results show that the proposed algorithm can effectively guarantee higher filtering accuracy under the condition that the azimuth angle is large misalignment angle and the filter guarantees good robustness when the noise is unknown.
作者
王律化
石志勇
宋金龙
王海亮
WANG Lyuhua;SHI Zhiyong;SONG Jinlong;WANG Hailiang(No.7 Dept.,PLA Army Engineering University at Shijiazhuang, Shijiazhuang 050001,China)
出处
《压电与声光》
CAS
北大核心
2019年第1期150-156,共7页
Piezoelectrics & Acoustooptics
基金
军内预研基金资助项目(9140A09031715JB34001)
关键词
惯性导航
精对准
误差模型
强跟踪五阶容积滤波
inertial navigation
precision alignment
error model
strongly tracking 5-order CKF
