用于快速传递对准的自适应联合H_∞滤波器设计  

Design of Adaptive Federated H_∞ Filter for Rapid Transfer Alignment

作　　者：胡健[1] 马大为[1] 程向红[2] 周百令[2] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《南京理工大学学报》2010年第3期323-327,共5页Journal of Nanjing University of Science and Technology

摘　　要：针对用于快速传递对准的集中式卡尔曼滤波器阶数高、计算负担大、鲁棒性差及对准精度低等问题,该文提出采用联合H∞滤波器进行快速传递对准。设计了联合H∞滤波器的结构和算法:该滤波器采用两级数据融合结构,含有2个与传感器相连的子滤波器和1个融合子滤波器输出信息的主滤波器,整个计算任务被分配给2个子滤波器并行完成从而减轻了计算负担。同时利用改进的Elman网络进行信息分配系数的自适应调节和子系统故障检测,以实现融合信息在各子系统中的自适应分配,并对检测出的故障子系统进行隔离。仿真结果表明:该滤波器不仅提高了系统解算速度与鲁棒性,而且使系统对准精度提高了1个数量级。Considering the high filter order,the huge calculation burden,the poor robustness and the low accuracy of the centralized Kalman filter for rapid transfer alignment,a federated H∞ filter is presented here to realize rapid transfer alignment.The structure and algorithm of the federated H∞filter is designed.The filter employs a two-stage data fusing architecture which contains two sensor-dedicated local filters and a master filter to fuse the local filters＇ outputs.The whole task is assigned to be performed synchronously by two local filters.The calculation burden is alleviated.An improved Elman network is proposed to adjust information sharing coefficients adaptively and detect subsystem malfunction to realize the adaptive share of fusing information in each subsystem and isolate the malfunctioning subsystem that has been detected.Simulation results show that the calculation speed and robustness is improved and the alignment accuracy is about one order of magnitude higher by using this method.

关 键 词：快速传递对准 联合H∞滤波器 自适应算法 ELMAN网络 

分 类 号：V44[航空宇航科学与技术—飞行器设计]