东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2013, Vol. 34 ›› Issue (2): 191-194.DOI: -

• 信息与控制 • 上一篇    下一篇

捷联惯导系统中基于卡尔曼滤波的奇异点消除算法

赵海，彭海霞，李大舟，丁旭阳   

  1. (东北大学信息科学与工程学院，辽宁沈阳110819)
  • 收稿日期:2012-07-10 修回日期:2012-07-10 出版日期:2013-02-15 发布日期:2013-04-04
  • 通讯作者: 赵海
  • 作者简介:赵海(1959-)，男，辽宁沈阳人，东北大学教授，博士生导师.
  • 基金资助:
    高等学校科技创新工程重大项目培育资金资助项目(708026).

A Singularity Eliminating Algorithm Based on Kalman Filter for High Altitude Airship’s SINS

ZHAO Hai， PENG Haixia， LI Dazhou， DING Xuyang   

  1. School of Information Science ＆ Engineering， Northeastern University， Shenyang 110819， China.
  • Received:2012-07-10 Revised:2012-07-10 Online:2013-02-15 Published:2013-04-04
  • Contact: PENG Haixia
  • About author:-
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摘要： 为消除奇异点对大飞艇的姿态解算带来的困扰，提出了一种基于卡尔曼滤波的奇异点消除算法.在构造出的卡尔曼滤波模型基础上，将当前状态变量作为先验估计代入滤波器的时间更新方程中，以便及时投射到测量更新方程，并得到测量更新方程所需的数据；此后，通过测量更新方程来校正先验估计，从而获得此状态的后验估计值，并用该估计值来代替加速度计传感数据中的奇异点，从而达到消除传感数据中奇异点的目的.Matlab实验验证了算法的有效性.结果表明，该算法在没有引入延迟的同时，有效消除了系统中传感器信号的毛刺点.

关键词: 奇异点消除, 卡尔曼滤波, 捷联惯导系统, 大飞艇

Abstract: To eliminate singularities which disturb the solution to high altitude airship’s attitude， an algorithm based on the Kalman filter was proposed for excluding singularities. Based on the developed Kalman filtering model， the current state variables as priori estimates were substituted into the timeupdating equations of the filter in order to be mapped onto the measurementupdating equations in time and get the data required in the measurementupdating equations. And then， the priori estimates were corrected by the measurementupdating equations so as to obtain the posterior estimates. The obtained posterior estimates were further substituted for the singularities from accelerometer sensors so as to eliminate the singularities. The Matlab experiments verify the effectiveness of the proposed algorithm， and the experimental results show that the algorithm eliminates signal burrs from the system’s sensors effectively， with no delay introduced.

Key words: singularity eliminating, Kalman filter, strapdown inertial navigation system (SINS), high altitude airship

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