基于H_∞滤波的GPS/INS全深组合导航系统研究  

Research on Complete GPS/INS Integration Based on H_∞ Filter

作　　者：赵伟[1] 袁信[1] 

机构地区：[1]南京航空航天大学,江苏210016

出　　处：《中国空间科学技术》2002年第2期9-14,共6页Chinese Space Science and Technology

摘　　要：根据 H∞ 鲁棒滤波理论 ,提出了基于 H∞ 滤波技术的 GPS/INS全深组合导航系统。该系统仅含有位置误差、速度误差和平台误差角 9维状态 ,并利用伪距、伪距率和载波相位观测信息对全部状态进行观测 ,组成全深组合导航系统 ,由 H∞ 滤波来提高系统的鲁棒性。文中对提出的组合系统进行了动态仿真 ,仿真结果表明 ,该系统结构简单 ,状态估计精度高 ,系统鲁棒性好 。Based on the theory of H ∞ robust filter, a tightly integrated GPS/INS system is presented using H ∞ filter. The variable state includes position error, velocity error and attitude error and measurement is composed of pseudorange, pseudorange rate and carrier phase. In order to improve the robust of the complete integrated navigation system, H ∞ robust filter is adopted. The dynamic simulation is carried out and the result shows that the simplified system can work with better precision and excellent robustness. The scheme can put into practice easily.

关 键 词：H∞滤波 全球定位系统 组合式导航 仿真 INS系统 

分 类 号：TN967.2[电子电信—信号与信息处理]