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頁籤選單縮合
題 名 | Initial Leveling using an Adaptive Kalman Filter=應用適應性Kalman濾波器之初始調平方法 |
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作 者 | 劉正瑜; 李守誠; 侯文田; | 書刊名 | 中正嶺學報 |
卷 期 | 25:2 1997.01[民86.01] |
頁 次 | 頁147-160 |
分類號 | 595.95 |
關鍵詞 | 固裝式慣性導航系統; 調平; Kalman濾波器; 輸入估測; Strapdown intertial navigation system; Leveling; Kalman filter; Input estimation; |
語 文 | 英文(English) |
中文摘要 | 初始調平對固裝式慣性導航系統是為相當重要之工作,其可分離載具之加速度與 重力加速度, 以提高導航精度。 本篇論文提出由輸入估測與 Kalman 濾波器構成之適應性 Kalman 濾波器,於初始調平之應用。 一四階之載具模式為本文應用之對象,其次,將導出 適應性 Kalman 濾波器法則,並運用統計檢定之技術,以確定輸入之區段,最後,則以模擬 加以驗證。由模擬結果,使用適應性 Kalman 濾波器及檢定,將可加速調平收歛速度,以及 提高調平精度。 |
英文摘要 | Initial leveling of strapdown inertial navigation system is the most task in the distinguishing of gravity and acceleration effects, and in achieving required accuracy. In this study, we apply input estimation and Kalman filter to a class of initial leveling problem under abrupt disturbance inputs circumstance. A fourth order dynamic equation with color noise driving and large, long duration deterministic input is considered. Also, the adaptive Kalman filter formed by recursive input estimator and Kalman filter is derived and proposed. The hypothesis testing is used to detect the onset and presence of the deterministic inputs. Finally, the simulation for a specific system verifies that this application will much improve the convergence speed and accuracy significantly more than that of the original one. |
本系統中英文摘要資訊取自各篇刊載內容。