【摘要】 惯性系统广泛应用于运载体的定位。系统的主要干扰源是陀螺的漂移和加速度计零位。本文讨论了采用最小二乘法对系统干扰进行估计的方法。并在此基础上对干扰进行补偿,进而讨论了补偿后系统的性质。上述方法曾用于设计惯性自动定位系统,并对系统进行了数字仿真和实物真。试验结果表明该方法是十分有效的。更多还原

【Abstract】 The drifts of gyroscopes and biases of accelerators are the main sources of disturbances.In this paper,the estimation and compensation of these disturbances inan operating system have been discussed.Then the sufficient and necessary condit-ions for the existence of the Linear Least Squares estimation are analyzed,and theproperties of compensated system are analyzed.Finally the application results in aninertial position determining system have been presented shortly.更多还原