Kalman与H_∞滤波算法在GPS/惯性组合导航系统中的应用研究  

Study on the Application of Kalman Filter and H_∞ Filter Algorithm in GPS/Integrated Navigation System

作　　者：李萌[1] 孟秀云[1] 邬江 

机构地区：[1]北京理工大学机电工程学院,北京100081

出　　处：《弹箭与制导学报》2006年第S4期692-694,共3页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：针对Kalman滤波及H_∞滤波的特点,分别将其应用于GPS/惯性组合导航系统中进行比较。采用位置-速度组合方式。分别在白噪声及有色噪声条件下进行滤波。通过仿真结果说明当系统模型及噪声的统计特性精确已知的情况下Kalman滤波算法可以得到较高的精度。然而当系统模型及噪声的统计特性发生变化时H_∞滤波算法明显具有良好的鲁棒性,估计精度也较高,有效地克服了Kalman滤波器存在的局限性。To deal with the feature of Kalman filter and H_ωfilter,comparing by the application of them in GPS/integrat- ed navigation system.Choseing the method of position-speed.Filtering in the condition of white noise and color noise. The simulation results indicate that Kalman filter has better accuracy in the ideal condition.But H_ωfiltering algorithm has better robustness and accuracy to model uncertainties and statistics characteristics of disturbance variations,which overcomes some limitations of Kalman filter.

关 键 词：KALMAN滤波 H_∞滤波 GPS/惯性组合导航 鲁棒性 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]