Secondary assistant complete worldwide determination system/inertial navigation system synthetic filter

摘要

The secondary filter where inside 2 next compensation filters, both was done the scale appropriately, synthesizes the information of accurate position from one source and the speed information from the other source. The filter is arranged, in order internal integrator 106, the information of accurate position and the value which displays the difference of rate of change of speed input of the other source to maintain. As for difference of this speed, initial condition, is position error between two sources for the secondary filter, it is applied to another integrator 114 outside the filter. Output of this latter integrator 114, speed inside the secondary filter, is the correction signal which grows in the ratio of opposite it is equal to the increase of error ratio of the position data from the source which is used. As for this correction signal, the original position signal 120 where it is added. Furthermore, high-level you can use the output of the secondary filter, as the accurate position signal.