自适应闭环H∞滤波在组合导航系统中的实现研究  

Realization of adaptive closed-loop H-infinity filter in integrated navigation system

作　　者：康国华[1] 刘建业[1] 刘瑞华[2] 赵伟[1] 

机构地区：[1]南京航空航天大学自动化学院导航研究中心,江苏南京210016 [2]中国民航学院天津市智能信号与图像处理重点实验室,天津300300

出　　处：《控制理论与应用》2008年第3期547-550,555,共5页Control Theory & Applications

基　　金：国家自然科学基金(60472125)．

摘　　要：针对常规H_∞滤波在组合导航系统中滤波精度不高的问题,采用闭环反馈的方法对滤波加以改进;并在闭环H_∞滤波迭代方程中引入遗忘因子,利用量测噪声的变化自适应调整滤波增益,构成自适应闭环H_∞滤波.理论分析表明,该改进的滤波算法降低了噪声干扰,但不影响H_∞滤波本身的鲁棒性.无源北斗/SINS组合导航系统跑车数据的半物理仿真进一步表明,自适应闭环H_∞滤波下的组合导航精度明显优于采用开环H_∞滤波或不带有遗忘因子的闭环H_∞滤波算法的导航精度,从而验证了改进滤波算法的有效性.To deal with the low precision of normal H-infinity filter in the integrated navigation system, the closed-loop feedback is employed for the H-infinity filter. In the closed-loop H-infinity filter, a forgetting factor is introduced to adjust the filter gain automatically based on the level of the measurement noise, constituting a closed-loop adaptive H-infinity filter. The theoretical analysis indicates that this adaptive close-loop H-infinity filter lowers the disturbance noise level, without affecting the inherent robustness of the H-infinity filter. Finally, the trial experiment of passive BD/SINS integrated navigation system shows that the navigation precision of the system with the adaptive closed-loop H-infinity filter is higher than that with the open-loop H-infinity filter, or the closed-loop H-infinity filter without the forgetting factor. This verifies the efficacy of the proposed H-infinity filter in raising the precision of the integrated navigation system.

关 键 词：组合导航 H∞鲁棒滤波 自适应滤波 闭环修正 无源北斗 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]