Robust Estimation for FOG Signal Based on Median Method
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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。Abstract: 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.
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Keywords:
- robust estimation /
- median /
- outlier /
- gyro drift /
- abnormal disturbance
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