Application of adaptive Kalman filter in process of laser gyro drift data

DENG Zhi-hong; WANG Yue-peng; FU Meng-yin; XIAO Xuan

doi:10.13873/j.1000-97872007.02.008

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Application of adaptive Kalman filter in process of laser gyro drift data

更新时间：2025-09-11

- Application of adaptive Kalman filter in process of laser gyro drift data
- Issue 2, Pages: 25-27(2007)
- 作者机构：
  
  1. 北京理工大学自动控制系
  2. 北京理工大学自动控制系,北京,100081
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.02.008
  CLC： U666.1
- Published：2007
- 稿件说明：
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[1]邓志红,王跃鹏,付梦印,肖烜.激光陀螺漂移数据的自适应Kalman滤波[J].传感器与微系统,2007(02):25-27.

DENG Zhi-hong, WANG Yue-peng, FU Meng-yin, et al. Application of adaptive Kalman filter in process of laser gyro drift data[J]. 2007, (2): 25-27.
[1]邓志红,王跃鹏,付梦印,肖烜.激光陀螺漂移数据的自适应Kalman滤波[J].传感器与微系统,2007(02):25-27. DOI： 10.13873/j.1000-97872007.02.008.

DENG Zhi-hong, WANG Yue-peng, FU Meng-yin, et al. Application of adaptive Kalman filter in process of laser gyro drift data[J]. 2007, (2): 25-27. DOI： 10.13873/j.1000-97872007.02.008.

摘要

针对Sage-Husa自适应Kalman滤波算法存在不能同时估计系统过程噪声方差和量测噪声方差的问题

结合激光陀螺漂移数据的特点

设计了2种改进的Sage-Husa自适应Kalman滤波算法:系统过程噪声时变的自适应滤波算法和系统过程噪声与量测噪声统计特性分开估计的并行Sage-Husa自适应滤波算法。仿真结果表明:所述方法改进算法能够有效提高数据精度

且对系统的初值不敏感。

Abstract

According to the characteristics of laser gyro drift data

two innovations are presented to avoid the deficiencies of Sage-Husa adaptive Kalman filter.The first innovation simplifies Sage-Husa adaptive Kalman filter to estimate system process noise only.The second is parallel Sage-Husa adaptive filter which estimates the statistical features of the unknown time-varying system process noise and measurement noise separately.The result of simulation shows that two algorithms are useful and effective with high precision.

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references

带未知时变噪声系统的卡尔曼滤波算法研究 [J]. 李振营,沈毅,胡恒章. 系统工程与电子技术 . 2000(01)

自适应滤波方法研究 [J]. 张常云. 航空学报 . 1998(S1)

阻止自适应Kalman滤波发散的补救方法 [J]. 张汉国,张洪钺. 控制与决策 . 1991(01)

油田产油量、产水量动态预报 [J]. 邓自立,郭一新. 自动化学报 . 1983(02)

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