【摘要】 本文研究了惯导平台漂移误差模型的参数辨识技术。平台漂移的误差源主要包括惯性器件的输出误差及其安装误差等，在测漂过程中让平台先后处在几个不同的位置，使各种误差源都能受到重力的激励。取加速度计或框架角的测量值做为系统的输出。框架角和误差系数都被定义成了状态变量，这样参数辨识问题就转化成了对状态变量的估计。由于状态和观测方程都是非线性的，故采用了扩展的卡尔曼滤波器。本文设计了六位置方案，进行了仿真。结果表明，该方案可以获得较好的辨识效果。更多还原

【Abstract】 In this paper,the parameter identification technique of inertial navigation platform drifting error model is studied.The drift error sources of platform mainly contain the output errors and misalignments of inertial instruments.In the drift testing process,the platform is adjusted in sequence to several positions in order to make all sorts of error sources be excited by the gravity.The measurements of the accelerometers and gimbal angles are used as system outputs.While the gimbal angles and error coefficients are all considered as state variables.Thus,the problem of parameter identifying is converted into that of state estimating.Due to the nonlinearity of the state and measurement equations,the extended Kalman filter is used.A 6position testing scheme is developed,and relevant simulation is performed which shows that this scheme can obtain satisfying estimation results.更多还原