针对卡尔曼滤波器在基于MEMS传感器构成的捷联惯导系统(SINS)误差补偿中的应用,系统分析了微惯性器件组成的载体在运动中所受到的干扰,通过对这些干扰的分析得出其误差模型,采用噪声协方差分析方法,利用卡尔曼滤波对其误差进行补偿.此外,在卡尔曼结构基础上,引入了姿态阵修正,进一步减小了捷联系统外部误差与姿态角误差对载体位置精度的影响.仿真和载体试验结果表明:系统具有较高的精度和较好的可靠性.%Aimed at application of Kalman filter in the SINS error compensation based on the MEMS sensor interference of micro inertia device carrier in the movement is analyzed. Through the analysis of these disturbances their error model is got, the error is compesated by using noise covariance analysis and Kalman filter. In addition, the RUF is introduced based on Kalman structure, and effect of the external system error and attitude angle error on the location precision of carrier is further reduced. Simulation and test results show that the system has higher precision and better reliability.
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