Kalman filtering method based on analog circuit and analog circuit
A technology of Kalman filtering and analog circuits, applied in the direction of navigation computing tools, etc., can solve the problems of A/D converters and digital processors to increase costs, affect system reliability, and complex structures, so as to improve reliability and anti-interference Ability, avoid conversion, fast time response effect
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[0044] The present invention is based on the Kalman filter equation of continuous time, and according to the solution method of the Riccati (Riccati) equation, obtains the steady-state solution of the Kalman filter equation, and the filter parameters (such as the gain matrix) become constant after entering the steady state, thereby So that each operation link (such as addition, integration, proportional operation, etc.) can be realized with analog components such as operational amplifiers. Experiments show that the estimated results obtained by the Kalman filter implemented by analog circuits are consistent with the results of the Kalman filter implemented by digital methods. It shows that it is feasible to realize Kalman filter by analog circuit.
[0045] There are also some errors in analog devices and analog circuits themselves, such as operational amplifier leakage current, bias voltage, etc., but the errors caused by the analog circuit itself can be reduced through reasona...
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