自适应联合H_∞滤波器及其在组合导航系统中的应用  

Adaptive federated H_∞ filter and its application in integrated navigation system

作　　者：万振刚[1] 周百令[1] 马云峰[1] 黄丽斌[1] 顾春杰[1] 

机构地区：[1]东南大学仪器科学与工程系,南京210096

出　　处：《东南大学学报（自然科学版）》2004年第5期623-626,共4页Journal of Southeast University：Natural Science Edition

摘　　要：研究了联合H∞ 滤波模型融合信息在各子滤波器中的分配原则 ,利用改进的Elman网络设计了信息分配系数自适应调节算法 ,给出了引用此算法的自适应联合H∞ 滤波器模型 ,并且给出了该模型的详细算法 .MIMU/GPS/HMR组合导航系统的仿真结果表明 ,应用本文提出的自适应联合H∞ 滤波器实现了融合信息在各局部滤波器和主滤波器的自适应分配 ,提高了系统状态估计精度和滤波器解算速度 .The information allocation method of federated H∞ filter was studied. An adaptive algorithm of the information sharing coefficients was designed based on advanced Elman networks. Moreover, a new model of the adaptive federated H∞ filter was presented. As an example of application, the new filter was applied to MIMU (micro-inertial measurement unit)/GPS (global positioning system)/HMR integrated navigation system. The computer simulation results prove that the adaptive federated H∞ filter can not only realize the adaptive distribution of fusion information but also greatly improve the system state accuracy and computing speed.

关 键 词：H∞滤波 组合导航 自适应算法 MIMU ELMAN网络 

分 类 号：TN967.2[电子电信—信号与信息处理]