利用中位数进行光纤陀螺信号抗差估计
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摘要
为了削弱光纤陀螺信号中异常噪声对寻北精度的影响,在滤除高频周期噪声的基础上,提出了一种处理陀螺信号的新算法。推导了陀螺信号的抗差解公式及其误差影响函数,取观测值的中位数作为抗差初值,利用一次抗差估计求得的观测残差再用中位数法求得均方差因子,并给出了高崩溃污染率的初值辅以IGGⅢ方案迭代解算的混合算法。计算结果表明,基于可靠初值和均方差因子估值的抗差估计可以有效削弱异常干扰对陀螺的影响。
In the strap-down gyro north seeker,gyro drift are primary factors to degrade orientation accuracy.On the basis of eliminating high frequency periodic noises,a new algorithm based on robust estimation is presented to degrade the influence of abnormal noises on the accuracy of FOG north seeker.The robust estimation formula of FOG and its influence function are deduced.Robust estimation serves the median of observations for the robust initial value and applies the median of the residuals of the first epoch robust estimation to obtain stable standard deviation factor.The mixed iterative algorithm based on high breakdown point initial value and assisted by IGGⅢ scheme is described.The calculations show that robust estimation based on reliable initial value and standard deviation factor can effectively degrade abnormal disturbances,and in turn,can improve the accuracy of FOG north seeker.
In the strap-down gyro north seeker,gyro drift are primary factors to degrade orientation accuracy.On the basis of eliminating high frequency periodic noises,a new algorithm based on robust estimation is presented to degrade the influence of abnormal noises on the accuracy of FOG north seeker.The robust estimation formula of FOG and its influence function are deduced.Robust estimation serves the median of observations for the robust initial value and applies the median of the residuals of the first epoch robust estimation to obtain stable standard deviation factor.The mixed iterative algorithm based on high breakdown point initial value and assisted by IGGⅢ scheme is described.The calculations show that robust estimation based on reliable initial value and standard deviation factor can effectively degrade abnormal disturbances,and in turn,can improve the accuracy of FOG north seeker.
引文
[1]周跃庆,高宁,刘鲁源.抗野值自适应Kalman滤波及其在陀螺信号处理中的应用[J].天津大学学报,2004,37(9):815-817
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[4]任明荣,刘星桥,吴富梅,等.小波去噪技术在捷联寻北仪中的应用[J].北京理工大学学报,2004,24(7):592-595
[5]王成宾,蒋庆仙,吴富梅,等.二位置寻北仪中光纤陀螺输出信号的处理[J].测绘科学与工程,2008,28(4):43-47
[6]蒋庆仙,王成宾,吴富梅.抗差估计在光纤陀螺信号处理中的应用[J].中国惯性技术学报,2009,17(1):71-75
[7]杨元喜.抗差估计理论及其应用[M].北京:八一出版社,1993
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[9]Yang Y.Robust Estimation of Geodetic DatumTransformation[J].Journal of Geodesy,1999,73(5):268-274
[10]王振杰,欧吉坤,曲国庆.抗差估计的初值选择[J].地壳形变与地震,2001,21(3):32-35
[2]吴富梅,杨元喜.基于小波变换和序贯抗差估计的捷联惯导初始对准[J].武汉大学学报.信息科学版,2007,32(7):617-620
[3]陈刚,张朝霞,庄良杰.小波域中值滤波器在陀螺寻北仪中的应用[J].天津大学学报,2006,39(7):797-800
[4]任明荣,刘星桥,吴富梅,等.小波去噪技术在捷联寻北仪中的应用[J].北京理工大学学报,2004,24(7):592-595
[5]王成宾,蒋庆仙,吴富梅,等.二位置寻北仪中光纤陀螺输出信号的处理[J].测绘科学与工程,2008,28(4):43-47
[6]蒋庆仙,王成宾,吴富梅.抗差估计在光纤陀螺信号处理中的应用[J].中国惯性技术学报,2009,17(1):71-75
[7]杨元喜.抗差估计理论及其应用[M].北京:八一出版社,1993
[8]杨元喜,吴富梅.临界值可变的抗差估计权函数[J].测绘科学技术学报,2006,23(5):317-320
[9]Yang Y.Robust Estimation of Geodetic DatumTransformation[J].Journal of Geodesy,1999,73(5):268-274
[10]王振杰,欧吉坤,曲国庆.抗差估计的初值选择[J].地壳形变与地震,2001,21(3):32-35
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