The Research of Identifying the Coefficients in the Platform Drift Error Model
(0) The problem of identifying the coefficients in the drift error model of the float-type gyro inertial navigation platform is investigated. According to the principle of the inertial navigation platform and on a basis of the output models of the gyro and accelerometer, the complete platform drift error model is given. The parameters in it are considered as the state variables, thus the system state equation and observation equation are set up. Since these two are nonlinear, the Extended Kalman Filter (EKF) is adopted. Then the problem of parameter identification is changed into that of optimal estimation of the state variables. In simulation, multiposition testing schemes are designed for the sake of making the parameters in the model be adequately motivated by the gravity acceleration. Using the schemes described in this paper, twenty- four drift error coefficients of three gyros and six ones of accelerometers can be identified, which shows the feasibility of this method in practice.
Deng Zhenglong Xu Songyan Fu Zhenxian
Dept of Control Science and Engineering, Harbin Institute of Technology
国际会议
北京
英文
67-71
2007-11-04（万方平台首次上网日期，不代表论文的发表时间）