扩张状态观测器在惯导系统初始对准中的应用研究

摘要

根据平台式惯导系统初始对准的误差模型,首先介绍了初始对准的卡尔曼滤波方法,而后研究了把扩张状态观测器与卡尔曼滤波器相结合用于惯导系统的初始对准方法,最后对系统在受干扰和未受干扰2种情况下,分别进行了仿真研究.仿真结果表明,该方法与卡尔曼滤波方法相比,在保证对准精度的条件下,系统姿态角对准时间大大缩短;在系统受到干扰时,该方法仍具有很强的适应性和稳定性.%According to the error model of the initial alignment of the inertial navigation system (INS) ,the Kalman filter technology of the initial alignment is introduced briefly, and then, a new method that combining the extend state observer(ESO) with the Kalman filter on the research of the initial alignment of the platform INS is researched. Simulation results show that the method obtains better results than the Kalman filter technology. The method makes initial alignment more quickly than before and possesses as high accurate as Kalman filter technology. The method still possesses very strong adaptability and stability when the system suffers disturbing.