高动态环境下基于H_∞滤波的深组合导航技术  

Research on Technology of Tightly Integrated Navigation based on H_∞ Filter in the High Dynamic Circumstance

作　　者：刘瑜[1] 王海维 高社生[3] 

机构地区：[1]中国飞行试验研究院飞机所,西安710089 [2]西飞集团公司技术中心,西安710089 [3]西北工业大学自动化学院,西安710072

出　　处：《火力与指挥控制》2010年第11期184-187,共4页Fire Control & Command Control

摘　　要：捷联惯性导航系统(SINS)/全球定位系统(GPS)组合导航系统是适用飞机和现代武器装备的高精度导航系统。针对高动态环境下GPS/SINS组合导航系统的定位精度问题,以炮射无人机为例提出基于H∞滤波技术的SINS/GPS伪距、伪距率深组合导航方案,用于提高高动态环境下组合导航系统的精度和鲁棒性。仿真结果表明,H∞滤波器不但比Kalman滤波器鲁棒性强,而且可用于带有强有色噪声的高动态系统中,并能保持较高的精度。The systemic study of the integrated navigation system for high dynamic vehicles is limited. Thus SINS/GPS integrated navigation theories and algorithms,which are fit for high dynamic circumstance,have not been formed in respect of integrity and maturity. Therefore,based on the theory of H∞filtering,the pseudorange and pseudorange rate tightly integrated SINS/GPS navigation system is studied for GLUAV in this paper. The system can improve the precision and robustness of navigation system in the high dynamic circumstance. Simulation results show that H∞filtering algorithm has better robustness and accuracy for model uncertainties and statistics characteristics of disturbance variations,which overcomes some limitations of Kalman filtering.

关 键 词：炮射无人机 高动态环境 SINS/GPS组合导航系统 伪距、伪距率 H滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]