用于陀螺仪随机误差估计的BP自适应模糊辨识法.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 用于陀螺仪随机误差估计的BP自适应模糊辨识法 魏 利 胜，费 敏 锐，杜 大 军 上海大学机电工程与自动化学院，上海，200072 E-mail: lshwei_11@163.com 摘 要:在惯导系统中，陀螺仪精度是系统精度的重要指标之一，而陀螺仪随机漂移是影响陀螺精度的重要误差 源，因而研究陀螺仪随机漂移对提高陀螺仪精度有着重要的意义。本文提出一种BP自适应模糊辨识法及其辨识 过程，它充分利用了语言信息与数据信息，在线反向传播学习，实现对陀螺仪的随机误差的高精度辨识，使数 据辨识的均方误差达到最小。通过仿真实验，证明了利用BP自适应模糊方法对陀螺仪随机漂移进行辨识具有较 高的精度和良好的应用价值。 关键词: 陀螺仪 , 辨识, BP自适应模糊辨识 BP Based Adaptive Fuzzy Identification Method for Gyro Random Drift Estimation Lisheng Wei, Minrui Fei, and Dajun Du School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China E-mail: lshwei_11@163.com Abstract: The precision of gyro is one of the most important points to decide precision of inertial navigation system and it is mostly effected by the gyro random drift. A kind of BP adaptive fuzzy method using minimum standard deviation estimator to identify gyro random drift is proposed in the paper, and the mathematical model is established. It makes the best of language information and data information, and has the possession of back propagation study. With experiments, the adaptive fuzzy method’s accuracy is proved. The simulation shows that the BP adaptive fuzzy identifying method is of practicable value to liquid floated gyro’s random error identifying. Key Words: gyro, identify, BP adaptive fuzzy identifying 力的新型自适应模糊辨识法，试图对陀螺仪随机漂 1 引言 （Introduction ） 移进行辨识。 在惯性导航系统中，陀螺仪随机漂移误差直接 2 BP 自适应模糊辨识 （BP Based Adaptive 影响导航精度[1-2] 。利用传统的时序法对陀螺仪随机