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《Science of Surveying and Mapping》 2011-05
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Comparison of two robust estimations applied to gyro signal

JIANG Qing-xian①②,MA Xiao-hui②,CHEN Xiao-bi②,WANG Hua②(①School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China;②Xi'an Research Institute of Surveying and Mapping,Xi'an 710054,China)  
In the strap-down gyro north seeker,the random drifts of gyro are primary factors to degrade orientation accuracy.The random drifts of gyro include abnormal noises(abnormal data) because abnormal observations or outliers inevitably exist in gyro signa1.Robust estimation is an effective method to control abnormal data by descending weights and weakening effects of abnormal data continuously.In the paper,the formulas of two robust estimations were presented and the abilities of controlling abnormal data were compared.The calculations showed that the algorithm combining the advantages of two robust estimations could both decrease calculations and obtain reliable estimates on condition that the abnormal data exist in observations.
【Fund】: 基于多种时频分析的INS误差分析与补偿理论研究(41004013)
【CateGory Index】: P207
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