[1]丁传炳,王良明,常思江,等.卡尔曼滤波在GPS制导火箭弹中的应用[J].南京理工大学学报(自然科学版),2010,(02):157-160.
 DING Chuan-bing,WANG Liang-ming,CHANG Si-jiang,et al.Application of Kalman Filtering in GPS-guided Rocket Projectiles[J].Journal of Nanjing University of Science and Technology,2010,(02):157-160.
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卡尔曼滤波在GPS制导火箭弹中的应用
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2010年02期
页码:
157-160
栏目:
出版日期:
2010-04-30

文章信息/Info

Title:
Application of Kalman Filtering in GPS-guided Rocket Projectiles
作者:
丁传炳;王良明;常思江;郝婷;杨荣军;
南京理工大学动力工程学院, 江苏南京210094)
Author(s):
DING Chuan-bingWANG Liang-mingCHANG Si-jiangHAO TingYANG Rong-jun
School of Power Engineering,NUST,Nanjing 210094,China
关键词:
火箭弹 卡尔曼滤波 全球定位系统 动态定位
Keywords:
roket projectiles Kalman filtering global positioning system dynamic positioning
分类号:
TJ415
摘要:
针对直接采用全球定位系统(GPS)测量弹道误差较大的问题,该文提出应用扩展卡尔曼滤波方法进行弹道测量。采用火箭弹弹道模型和GPS误差模型,建立卡尔曼滤波系统状态模型和以伪距为观测量的系统测量模型,推导并分析了相应的滤波公式,并对GPS动态定位的数据进行滤波。理论分析和仿真结果表明,GPS测量的位置误差和速度误差具有随机性,且误差幅度较大,采用卡尔曼滤波算法后,弹道的位置估计误差和速度估计误差分别降低到观测误差的1/3和1/4左右,而且滤波收敛速度快。
Abstract:
To reduce the error of trajectory measured by GPS directly,the application of extended Kalman filter is proposed for trajectory measurement.Based on the trajectory model of rocket projectiles and GPS error model,the state equation and measurement equation which takes the pseudo range as observation are both established.The filter formulations are deduced and analyzed.The data of GPS kinematical positioning are also filtered.The theoretical analysis and simulation results indicate that the measurement errors of position and velocity of GPS are random and large in amplitude.The estimation error of position and velocity on trajectory can be reduced by 1/3 and 1/4 of observation error respectively by using Kalman filtering and the convergence speed can be fastened.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 丁传炳( 1984- ) , 男, 博士生, 主要研究方向: 远程弹箭的制导与控制, E-mail: sfdcb802@ 163. com; 通 讯作者: 王良明( 1963- ), 男, 教授, 博士生导师, 主要研究方向: 飞行器制导与控制技术, E-mail: lmw ang802@ 163. com。
更新日期/Last Update: 2010-04-30