超级航姿中基于变阈值判据的自适应Kalman滤波
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An Adaptive Kalman Filter Based on Variablethreshold Criterion in SuperAHRS
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    摘要:

    超级航姿系统因受外界干扰而使加速度计输出稳定性发生变化时,传统航姿算法易引起载体机动状态误判,且易导致滤波器振荡甚至发散,因此,该文提出了一种基于模糊推理系统的变阈值载体机动判据自适应Kalman滤波算法。该算法能根据加速度计输出稳定性的变化,自适应地调节载体机动判据及滤波器的量测噪声阵,从而降低载体机动状态的误判率,并提高滤波器对量测信息的利用程度。仿真实验表明,当加表稳定性发生变化时,该算法仍能较好地判断出载体的机动状态,并对量测噪声阵作出相应调整,使超级航姿系统的长航时姿态精度和滤波稳定性得到提高。

    Abstract:

    Aiming at the disadvantage that the traditional AHRS algorithm may cause the carrier maneuver state misjudgment and leads to the filter oscillation or even divergence when the output stability of the accelerometer in the superAHRS is changed due to the interference of environment, an adaptive Kalman filter algorithm based on the variablethreshold carrier maneuvering criterion based on fuzzy inference system (FIS) is presented in this paper. The algorithm can adaptively adjust the carrier maneuver criterion and the measurement noise array of the filter according to the change of the output stability of the accelerometer, thereby reducing the misjudgment rate of the carrier maneuvering state and improving the utilization of Kalman filter for measurement information. The simulation experimental results show that the algorithm can still judge the maneuver state of the carrier well and make the corresponding adjustment to the filter when the output stability of the accelerometer is changed, which improves the filter stability and the longrange attitude accuracy of the superAHRS.

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谢祖辉,杨功流,于东康,李壮.超级航姿中基于变阈值判据的自适应Kalman滤波[J].压电与声光,2019,41(2):285-289. XIE Zuhui, YANG Gongliu, YU Dongkang, LI Zhuang. An Adaptive Kalman Filter Based on Variablethreshold Criterion in SuperAHRS[J]. PIEZOELECTRICS AND ACOUSTOOPTICS

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  • 在线发布日期: 2019-04-18
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