曲线光顺在惯导平台自标定中的应用

提出了一种新的惯导平台自标定数据处理方法——曲线光顺法。根据自标定数据特点给出了适于自标定数据的曲线光顺准则。分析了野值对曲线二阶差商的影响规律,提出了一种野值剔除算法。通过将最小二乘与B样条结合得出二阶差商参考值,并使实际差商与参考差商距离达到最小从而得到野值修改值。实验结果表明,该文的算法能很好地解决惯导平台自标定数据的野值剔除问题,可通过调节参数来控制光顺精度,并具有算法简便、易于操作的优点。

Application of Curve Smoothing in Self Calibration of the Inertial Platform

A method of curve smoothing for self calibration data processing in the inertial platform was proposed in this paper.The appropriate curve smoothing criterion was given according to the characters of self calibration data. The outlier elimination and replacing algorithm was proposed through analyzing the influence of outlier on the curvature, and an algorithm for outlier choosing was proposed.An algorithm of the second difference quotients reference value was obtained by connecting the least square with the B spline, so the modified value for the outlier was gotten through seeking the minimum distance between the actual the second difference quotients and the reference value.The experimental results indicated that,the algorithm could well solve the problem of outlier elimination in the inertial platform self calibration data.The accuracy of curve smoothing could be controlled through adjusting the parameter,and the method had the feature of simple algorithm and convenient to use.