基于Huber鲁棒性滤波的惯性/天文组合导航算法  

Integrated Navigation Method of INS/CNS Based on Huber Robust Filtering Algorithm

作　　者：刘亚龙[1] LIU Yalong

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068

出　　处：《现代导航》2024年第3期157-162,168,共7页Modern Navigation

摘　　要：针对星敏异常量测对组合系统状态估计性能的影响,提出一种基于Huber鲁棒性估计理论的惯性/天文组合导航滤波算法。通过对广义极大似然估计理论的详细推导,给出了基于Huber鲁棒性估计的Kalman滤波(简称H-EKF)算法流程,并基于跑车数据进行算法性能对比验证。结果表明,该算法对星敏异常量测噪声具有很好的鲁棒抑制性,与传统Kalman滤波算法相比,对陀螺常值漂移的估计精度和稳定性均有所提升,有效保证了惯性/天文组合系统导航精度。Aiming at the influence of star sensor anomaly measurement on the state estimation performance of the combined system,an inertial/astronomical combined navigation filtering algorithm based on Huber robust estimation theory is proposed.Through the detailed derivation of generalized maximum likelihood estimation theory,the Kalman filter algorithm flow based on Huber robustness estimation is given,and the performance of the algorithm is compared and verified based on actual sports car data.The results show that the proposed algorithm has a good robustness to the noise of star sensor anomaly measurement.Compared with the traditional Kalman filtering algorithm,the estimation accuracy and stability of the gyro constant drift are improved,and the accuracy of the inertial/astronomical combined system is guaranteed.

关 键 词：天文导航系统 组合导航 HUBER 鲁棒性滤波 

分 类 号：V249[航空宇航科学与技术—飞行器设计]