基于HMM_ KF 滤波的捷联惯组快速标定方法.pdfVIP

第27 卷 第4 期 控 制 与 决 策 2012 年 4 月 Vol. 27 No. 4 Control and Decision Apr. 2012 文章编号: 1001-0920 (2012) 04-0567-04 基于HMM / KF 滤波的捷联惯组快速标定方法 孙 枫, 曹 通 (哈尔滨工程大学自动化学院，哈尔滨150001) 摘 要: 提出一种快速标定捷联惯组常值零偏的六位置测试法. 首先在传统解析式粗对准的基础上引入HMM / KF 滤波器, 利用HMM / KF 滤波器滤除对准环境中的干扰噪声, 实现捷联系统粗对准; 然后分析利用粗对准的对准精度 与惯性器件误差之间的关系, 推导出求取捷联惯组常值零偏的数学表达式. 对比实验分析结果表明, 采用滤波技术的 对准方法能够提高方位对准精度, 而且能够快速有效地标定和补偿上一标定阶段残留的惯性器件常值零偏, 改善导 航性能. 关键词: 捷联惯组；零位偏置；六位置标定；粗对准；隐式马尔科夫模型；卡尔曼滤波 中图分类号: U666.12 文献标识码: A Fast calibration for strapdown IMU based on HMM / KF SUN Feng, CAO Tong (College of Automation，Harbin Engineering University ，Harbin 150001 ，China ．Correspondent ：CAO Tong，E-mail: caotong453@yahoo.cn) Abstract ：：：This paper presents a fast six-position calibration for strapdown inertial measurement unit (IMU) bias. The interference noise is filtered out with hidden Markov model/ Kalman filter (HMM/ KF), and the alignment is achieved based on traditional analytic coarse alignment. The mathematical expressions of bias is derived with the relationship between the accuracy of coarse alignment and inertial instrument errors. Compared with the traditional coarse alignment, the initial alignment with filter not only can improve azimuth accuracy, but also can compensate the residue bias in the preceding calibration period, and navigation performance is improved. Key words ：：：strapdown inertial measurement unit；bias ；six-position calibration；coarse alignment ；hidden Markov model ；Kalman filter 1 引引引 言言言 滤除对准环境中干扰噪声的影响; 然后在粗对准的基 捷联惯组标定是系统初始对准的前提, 标定的好 础上, 提出直接利用粗对准结果进一步标定上一标定 [1] 阶段残留的陀螺