基于积分链式卡尔曼滤波器的角加速度观测器的噪声参数整定及性能研究

摘要

噪声统计特征值的整定是积分链式卡尔曼滤波器（ IKF）的设计要点。针对噪声统计特征值的整定进行研究，推导出积分链式卡尔曼滤波器的离散噪声统计特征值与离散采样周期的函数关系，定量分析了积分链式卡尔曼滤波器的离散噪声统计特征值的跟踪性能。在此基础上，提出了一种定量计算噪声统计特征值的方法，通过滤波器截止频率、离散采样周期直接计算得到噪声统计特征值，改变了以往的仿真-实验-调整环整定方法，简化了设计流程。仿真和实验验证了所提出方法的有效性。%Obtaining the statistic characteristics of noises is the key point in the design of the all-integrator model Kalman filter( IKF). The setting of the statistic characteristics of noises has been studied in this paper. The function of the discrete statistic characteristics of noises and sampling period within the IKF has been derived. The tracking performance on the statistic characteristics of noises within the IKF has been quantitatively analyzed. On this basis,a method for calculating the statistic characteristics of noises by directly using roll-off frequency and discrete sampling period has been proposed, which overcomes the drawbacks of the traditional simulation-experiment-adjustment loop setting method and simplifies the design procedure. This proposed method is verified by simulations and experiments.