基于闭环H_∞滤波的组合导航系统研究与仿真  

Research and Simulation of Integrated Navigation System Based on Closed-cycle H_∞ Filter

作　　者：任凯升[1] 何矞[1] 南英[1] 

机构地区：[1]南昌航空大学,江西南昌330063

出　　处：《计算机仿真》2009年第7期95-98,145,共5页Computer Simulation

摘　　要：运用组合导航技术,将SINS与GPS两者有机组合,能很好地克服各自的缺点,形成优势互补结构。H∞滤波通常应用于系统模型和噪声特性不确定的环境,存在滤波精度不高的缺点。通过对H∞滤波引入闭环修正,在不影响滤波鲁棒性的前提下,有效地提高了系统精度。同时引入协方差配置技术,能够增强导航系统的鲁棒性,从而构成比较理想的组合导航系统。对提出的SINS/GPS全组合系统进行了动态仿真,仿真结果表明,系统结构简单,状态估计精度较高,系统鲁棒性好。基于闭环H∞滤波的组合导航系统对实际工程应用具有重要的现实意义。An integrated SINS/GPS navigating system is given which can overcome the respective defects of the two systems and develop their advantages to form a complementary structure, filtering usually is used in the special environment of the uncertain system model and noise character and its low precision confines its application field. By applying new filtering with closed - cycle correction, the filtering precision is increased and the inherent robustness is kept. A covariance assignment filtering algorithm is introduced which can not only enhance the navigational capability and accuracy, but also improve the robustness of the navigation system, so a more ideal integrated navigation system can be constructed. The dynamic simulation of a complete integrated SINS/GPS system is carried out and the result shows that the simplified system can work with better precision and excellent robustness. The scheme can be put into practice easily.

关 键 词：组合导航系统 捷联惯性导航 全球定位系统 鲁棒滤波 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]