UKF在惯导平台误差系数辨识离心机测试中的应用_英文_.pdfVIP

第 18 卷第 3 期 中国惯性技术学报 Vol.18 No.3 2010 年 6 月 Journal of Chinese Inertial Technology Jun. 2010 文章编号：1005-6734(2010)03-0382-05 Application of unscented Kalman filter in identification of INS error parameters based on centrifuge test SU Bao-ku, CHEN Cai, GUO Gang (Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China) Abstract ：In order to identify the error parameters of inertial navigation platform in the centrifuge testing, a non-linear model of INS for the identification with a direct method is established. According to the actual system model, the standard unscented Kalman filter(UKF) algorithm is simplified and improved. Compared with the standard UKF, the improved algorithm has the same filtering precision, simpler configuration and lower calculation load. An extended Kalman filter(EKF) algorithm and the improved UKF algorithm are applied respectively to identify the error parameters of INS based on centrifuge test. The simulation results demonstrate that the improved UKF algorithm is more precise in INS error parameter identification and easier to implement than EKF algorithm. Key words ：inertial navigation platform; nonlinear filtering; parameter identification; unscented Kalman filter algorithm UKF 在惯导平台误差系数辨识离心机测试中的应用 苏宝库，陈 才，郭 刚 （哈尔滨工业大学空间控制与惯性技术研究中心，哈尔滨 150001 ） 摘要：针对惯导平台误差系数辨识的离心机测试，利用直接法建立了误差系数辨识的非线性模型，并结合实际 系统模型的特点对标准UKF 算法进行了简化和改进。改进后的UKF结构简单，与标准UKF具有同样的滤波精度，