误差的种类
系统误差和随机误差是误差的两个种类。系统误差是可以确定变化规律或引起原因的误差,通常意义上的误差补偿就是针对此种误差。随机误差是尚不能确定变化规律或艰难确定引起原因的误差。误差广泛的存在于各种传感数据中,伴随测量真值存在。
频谱分析法
高斯过程,
系统误差
随机误差
白噪声
白噪声是能量密度在频谱上均匀分布的误差种类。其平均值为零,偏移大小为随即值。二维位置白噪声生成代码如下:
生成数字的浮点型舍弃小数部分、取整。从而生成均值为零噪声,噪声点空间分布较为均衡。
噪声生成matlab代码
%% white_noise
clear all;
close all;
clc;
%% init_noise
set_num = 6000;
set_cyc = 8;
noiseT = zeros(set_num,1);
%% white_main_function
noise_S=6.5536;
noise_W=2.053;
noise_V=1.3849;
noise_T=0.0;
noise_R=0.0;
for ii_tempI = 1:set_num
for i_temp = 1:set_cyc
noise_R = noise_W*noise_R + noise_V;
noise_M = floor(noise_R/noise_S);
noise_R = noise_R - noise_M*noise_S;
noise_T = noise_T + noise_R/noise_S;
end
move_P = noise_S/noise_W;
noiseT(ii_tempI,1)=noise_R - move_P;
end
噪声生成C代码
class CWhiteNoise
{
public:
CWhiteNoise() : noise_S(6.5536), noise_W(6.5536), noise_V(1.3849), noise_T(0.0), noise_R(0.0),noise_rate(1.0) {}
double whiteNoise()
{
for (int i_temp = 1; i_temp < set_cyc; i_temp)
{
noise_R = noise_W * noise_R + noise_V;
double noise_M = floor(noise_R / noise_S);
noise_R = noise_R - noise_M * noise_S;
noise_T = noise_T + noise_R / noise_S;
}
double move_P = noise_S / noise_W;
return noise_R - move_P;
}
void setNoseRate(double f_rate){noise_rate = f_rate;};
private:
//>! init_noise
int set_cyc = 8;
//>! white_noise_param
double noise_S;
double noise_W;
double noise_V;
double noise_T;
double noise_R;
double noise_rate;
};
噪声生成python代码
import matplotlib.pyplot as plt
import numpy as np
import math
## white_noise
## init_noise
set_num = 6000
set_cyc = 8
noiseT = np.mat(np.arange(set_num).reshape(set_num,1).astype(float))
## white_main_function
noise_S=6.5536
noise_W=2.053
noise_V=1.3849
noise_T=0.0
noise_R=0.0
for ii_tempI in range(1,set_num):
for i_temp in range(1,set_cyc):
noise_R = noise_W*noise_R + noise_V
noise_M = math.floor(noise_R/noise_S)
noise_R = noise_R - noise_M*noise_S
noise_T = noise_T + noise_R/noise_S
move_P = noise_S/noise_W
noiseT[ii_tempI,1]=noise_R - move_P
plt.plot(noiseT)
plt.xlabel('err_ori(deg)')
plt.ylabel('err_later(dm)')
plt.show()
IMU误差分析
IMU系统误差
一般构建惯性测量系统误差模型时,考虑零偏、刻度因子和正交性。
1 零偏
2 刻度因子
3 正交性
4 温漂
5 连带漂移(陀螺和加表相互影响)
IMU随机误差
随机误差构建方程时,考虑零偏不稳定性+随机游走。
1 零偏不稳定性
2 随机游走