基于积分链式卡尔曼滤波器的角加速度观测器的噪声参数整定及性能研究

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Abstract

Obtaining the statistic characteristics of noises is the key point in the design of the all-integrator model Kalman filter (IKF).The setting of the statistic characteristics of noises has been studied in this paper.The function of the discrete statistic characteristics of noises and sampling period within the IKF has been derived.The tracking performance on the statistic characteristics of noises within the IKF has been quantitatively analyzed.On this basis,a method for calculating the statistic characteristics of noises by directly using roll-off frequency and discrete sampling period has been proposed,which overcomes the drawbacks of the traditional simulation-experiment-adjustment loop setting method and simplifies the design procedure.This proposed method is verified by simulations and experiments.

Key words： Kalman filter angular acceleration acceleration observer tracking performance statistic characteristics of noises

Received: 28 April 2015 Published: 24 August 2016

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TM315

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	Articles by authors
	Qiu Wenbin
	Chai Jianyun
	Lu Haifeng
	Zeng Yingyu
	Sun Xudong

Cite this article:

Qiu Wenbin,Chai Jianyun,Lu Haifeng等. Parameters Setting and Performance Research for the Angular Acceleration Observer Based on All-Integrator Model Kalman Filter[J]. Transactions of China Electrotechnical Society, 2016, 31(15): 147-155.

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https://dgjsxb.ces-transaction.com/EN/ OR https://dgjsxb.ces-transaction.com/EN/Y2016/V31/I15/147

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