捷联惯导系统中卡尔曼滤波的应用研究

摘要

In order to improve the initial alignment accuracy of Strapdown Inertial Navigation System,research on the Kalman filter which is applied to the initial fine alignment of the system has been proposed to estimate the misalignment angle and inertial error of the system.The application of Kalman filter in Strapdown Inertial Navigation System is analyzed and the initial alignment error model and the Kalman filter measurement equation of strapdown Inertial Navigation System are established.The filtering principle and filtering precision of different filtering methods under different conditions are analyzed.Based on this,a new idea of predictive extended Kalman filter to reverse navigation is proposed,and the theoretical analysis and Strapdown Inertial Navigation System self-alignment process design are carried out.And a good foundation of further reseaech of Initial alignment of inertial navigation system has been laid.%为提高捷联惯导系统初始对准精度,提出将卡尔曼滤波技术应用于系统初始精对准,用以估计系统的失准角和惯性误差;对卡尔曼滤波技术在捷联惯导系统中的应用进行分析,建立捷联惯导系统初始对准误差模型和卡尔曼滤波量测方程;分析不同条件下不同滤波方法的滤波原理和滤波精度;在此基础上,提出一种将预测扩展卡尔曼滤波应用于逆向导航技术的思路,并进行了理论分析和捷联惯导系统自对准流程设计,为后续进一步深入开展惯导系统初始对准奠定基础.