| 捷联式航姿系统中四元素算法Kalman滤波器的实现研究 |
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| 引用本文： | 施闻明,徐彬,陈利敏.捷联式航姿系统中四元素算法Kalman滤波器的实现研究[J].自动化技术与应用,2005,24(11):6-8. |
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| 作者姓名： | 施闻明 徐彬 陈利敏 |
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| 作者单位： | 1. 青岛海军潜艇学院,山东,青岛,266071
2. 北舰航保处,山东,青岛,266071 |
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| 摘 要： | 本文基于四元素算法推导了姿态算法和捷联惯导系统误差模型,并设计了Kalman滤波器。在此基础上分析了误差模型的随机噪声补偿和提出了航向修正。仿真结果表明,本文讨论的这种Kalman滤波器能保证航向精度,具有实际应用意义。
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| 关 键 词： | 捷联式航姿系统 Kalman滤波器 四元素算法 姿态矩阵 |
| 文章编号： | 1003-7241（2005）11-0006-03 |
| 收稿时间： | 2005-05-08 |
| 修稿时间： | 2005年5月8日 |
Realization of the Quaternion- Based Kalman Filter for Strapdown AHRS |
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| SHI Wen-ming,XU Bin,CHEN Li-min.Realization of the Quaternion- Based Kalman Filter for Strapdown AHRS[J].Techniques of Automation and Applications,2005,24(11):6-8. |
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| Authors: | SHI Wen-ming XU Bin CHEN Li-min |
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| Affiliation: | 1. Qingdao Naval Academy College, Qingdao 266071, China; 2. Navigational Support Departemeht, North sea Fleet, Qingdao 266071, China |
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| Abstract: | In the paper,the attitude algorithm and the error model of the strapdown navigation system are derived based on the quaternion formulation.And the Kalman filter is designed.On this base,The effect of the random noise is analyzed and the azimuth compensation is proposed.The simulation result shows that this Kalman filter can ensure the required azimuth precision. |
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| Keywords: | Strapdown AHRS Kalman filter Quaternion algebra Attitude matrix |
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