引用本文:孙昌跃,邓正隆.结合小波消噪的捷联惯导系统传递对准性能改进[J].控制理论与应用,2009,26(12):1351~1357.[点击复制]
SUN Chang-yue,DENG Zheng-long.Wavelet denoising for improving transfer alignment of strapdown inertial navigation systems[J].Control Theory and Technology,2009,26(12):1351~1357.[点击复制]
结合小波消噪的捷联惯导系统传递对准性能改进
Wavelet denoising for improving transfer alignment of strapdown inertial navigation systems
摘要点击 1668  全文点击 968  投稿时间：2008-07-10  修订日期：2009-04-08
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DOI编号  
  2009,26(12):1351-1357
中文关键词  传递对准  IMU  小波消噪  Kalman滤波
英文关键词  transfer alignment  IMU  wavelet denoising  Kalman filtering
基金项目  国防预研基金资助项目(514090101HT0141).
作者单位E-mail
孙昌跃* 湖南科技大学 信息与电气工程学院 cysun@hnust.edu.cn 
邓正隆 哈尔滨工业大学 控制科学与工程系  
中文摘要
      针对机载捷联惯导系统的传递对准问题, 给出了一种速度+姿态匹配算法, 旨在强调姿态失准角和惯导器件误差参数估计性能的改善. 并基于惯导测量单元(inertial measurement unit, IMU)原始测量信号的频谱特征, 引入了小波串级消噪算法, 拟通过对IMU测量进行消噪, 进一步提高传递对准的性能. 仿真结果验证了所提算法的可行性.
英文摘要
      The transfer alignment of strapdown inertial navigation systems is discussed. An improved transfer alignment algorithm that augments velocity matching with attitude matching is introduced for improving the estimation performance of attitude errors and the inertial measurement unit(IMU) calibration parameters. Based on the spectrum characteristics of IMU raw measurements, we introduce the wavelet cascade denoising algorithm to reduce the IMU measurement noise and to further enhance the performance of the proposed transfer alignment algorithm. Finally, simulations are conducted to validate the proposed algorithms feasibility.