H_∞滤波算法及其在GPS/SINS组合导航系统中的应用  

H_∞ FILTERING ALGORITHM AND ITS APPLICATION IN GPS/SINS INTEGRATED NAVIGATION SYSTEM

作　　者：岳晓奎[1] 袁建平[1] 

机构地区：[1]西北工业大学航天工程学院,陕西西安710072

出　　处：《航空学报》2001年第4期366-368,共3页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金 (696740 17);"2 11"重点建设资助项目

摘　　要：在对 H∞ 估计问题进行数学描述的基础上 ,建立了一种 H∞ 次优滤波算法的迭代方程。定性讨论了H∞滤波算法与传统 Kalman滤波器的关系 ,通过在 GPS/SINS组合系统中的实际应用进一步从精度、鲁棒性等性能指标方面对 H∞ 滤波和 Kalman滤波算法进行了比较。仿真结果表明 ,在理想条件下 ,Kalman滤波方法具有较高的精度 ;但是 ,当系统模型和外部干扰统计特性发生变化时 ,H∞ 滤波算法明显具有良好的鲁棒性能 ,同时 ,估计精度也较高 ,有效地克服了On the basis of mathematical description for H ∞ estimation problems, an iterative equation to H ∞ sub\|optimal filtering algorithm is an alyzed. The relationship between H ∞ filtering algorithm and traditional Kalman filter is discussed, and at the same time, some performance indexes of these two methods, e.g. accuracy, robustness, are compared by using a GPS/SINS integrated system. The simulation results indicate that Kalman filter has better accuracy in the ideal condition. But H ∞ filtering algorithm has better robustness and accuracy to model uncertainties and statistics characteristics of disturbance variations, which overcomes some limitations of Kalman filter, e.g., stability, robustness, and so on.

关 键 词：H∞滤波 KALMAN滤波 鲁棒性 GPS/SINS 组合导航 飞行器 导航系统 算法 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]