Research of Error Identification on Algorithm for Inertial Instrument
首发时间:2011-02-18
Abstract:With the development of Strapdown Inertial Navigation System (SINS), high accuracy for its navigation is required. To improve the long-time navigation accuracy of SINS, the error parameters of inertial instrument must be identified. However, most of the traditional algorithms are based on research of data characteristics of inertial instrument, which is difficult to modify errors using the error compensation model when the experimental data of inertial instrument is directly replaced with navigation result data. In view of this situation, the paper does research on error identification of inertial instrument based on the navigation result data, and proposes a new error identification algorithm by using the inverse operation of SINS. That is, according to the error characteristics of inertial instrument, the error model should be firstly established. Then, based on the navigation data, the approximate value of ideal output of inertial instrument can be obtained by the inverse operation of SINS. Finally, the model parameters of inertial instrument will be obtained through kalman filter. The algorithm is efficient with a simple structure and low computational complexity, and the simulation results show that the algorithm is correct and effective, especially with great theoretical significance and engineering value.
keywords: error identification inertial instrument SINS
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惯性器件的误差辨识方法研究
摘要:With the development of Strapdown Inertial Navigation System (SINS), high accuracy for its navigation is required. To improve the long-time navigation accuracy of SINS, the error parameters of inertial instrument must be identified. However, most of the traditional algorithms are based on research of data characteristics of inertial instrument, which is difficult to modify errors using the error compensation model when the experimental data of inertial instrument is directly replaced with navigation result data. In view of this situation, the paper does research on error identification of inertial instrument based on the navigation result data, and proposes a new error identification algorithm by using the inverse operation of SINS. That is, according to the error characteristics of inertial instrument, the error model should be firstly established. Then, based on the navigation data, the approximate value of ideal output of inertial instrument can be obtained by the inverse operation of SINS. Finally, the model parameters of inertial instrument will be obtained through kalman filter. The algorithm is efficient with a simple structure and low computational complexity, and the simulation results show that the algorithm is correct and effective, especially with great theoretical significance and engineering value.
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