两种H_∞滤波在SINS/GPS组合导航系统中的适应性
|
摘要
针对H∞鲁棒滤波实现算法在SINS/GPS组合导航系统中的适应性问题,将中央H∞滤波和次优后置H∞滤波用于开环SINS/GPS组合系统和闭环SINS/GPS组合系统中,进行滤波校正,结果表明:中央H∞滤波适于用在开环SINS/GPS组合系统中,次优后置H∞滤波适于用在闭环SINS/GPS组合系统。该结论可对组合导航系统中滤波算法的选取提供参考。
In view of the applicability of H∞ robust filtering algorithms to the designed SINS/GPS integrated navigation system,both of the H∞ center filter and the H∞ posteriori filter are applied to an open-loop SINS/GPS integrated system and an closed-loop SINS/GPS integrated system respectively.The simulation results show that the H∞ center filter is applicable to the open-loop SINS/GPS integrated system,while the H∞ posteriori filter is applicable to the closed-loop SINS/GPS integrated system.This conclusion can be a reference for selecting right filtering algorithms in SINS/GPS integrated navigation system.
In view of the applicability of H∞ robust filtering algorithms to the designed SINS/GPS integrated navigation system,both of the H∞ center filter and the H∞ posteriori filter are applied to an open-loop SINS/GPS integrated system and an closed-loop SINS/GPS integrated system respectively.The simulation results show that the H∞ center filter is applicable to the open-loop SINS/GPS integrated system,while the H∞ posteriori filter is applicable to the closed-loop SINS/GPS integrated system.This conclusion can be a reference for selecting right filtering algorithms in SINS/GPS integrated navigation system.
引文
[1]戴邵武,张亦农.基于H∞的双滤波算法在GPS/SINS组合导航系统中的研究[J].中国惯性技术学报,2005,13(5):39-44.DAI Shao-wu,ZHANG Yi-nong.H∞based double filte-ring algorithm on integrated GPS/SINS navigation sys-tem[J].Journal of Chinese Inertial Technology,2005,13(5):39-44.
[2]张平,时和平,董红军.基于H∞滤波的RDSS/INS组合导航研究[J].弹箭与制导学报,2006,26(3):30-31.ZHANG Ping,SHI He-ping,DONG Hong-jun.Researchon RDSS/INS integration based on H∞filter[J].Journalof Projectiles,Rockets,Missiles and Guidance,2006,26(3):30-31.
[3]贾志凯,房建成,李艳华.带遗忘因子的H∞滤波在机载SAR运补系统中的应用[J].中国惯性技术学报,2003.11(2):6-8.JIA Zhi-kai,FANG Jian-cheng,LI Yan-hua.On H∞filte-ring with forgetting factor for airborne SAR motion com-pensation system[J].Journal of Chinese Inertial Technol-ogy,2003,11(2):6-8.
[4]屈新芬,李世玲,魏可惠.定位用SINS/GPS组合算法仿真及设计[J].信息与电子工程,2006,4(4):258-263.QV Xin-fen,LI Shi-ling,WEI Ke-hui.Analysis and simu-lation of SINS/GPS combination system using to position[J].Information and Electronic Engineering,2006,4(4):258-263.
[5]赵伟,袁信,林雪原.采用H∞滤波器的GPS/INS全组合导航系统研究[J].宇航学报,2002,23(3):265-267.ZHAO Wei,YUAN Xin,LIN Xue-yuan.Research oncomplete GPS/INS integration using H∞Filter[J].Jour-nalof Astronautics,2002,23(3):265-267.
[6]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出社,2007.
[7]Babak Hassibi,Ali H Sayed,Thomas Kailath.Krein空间的线性估计-第二部分:应用[J].IEEE自动控制学报,1996,41(1):34-49.Babak Hassibi,Ali H Sayed,Thomas Kailath.Linear esti-mation in Krein spaces-partⅡ:applications[J].IEEETransactions on Automatic Control,1996,41(1):34-49.
[8]Sato T,Qi K.H∞滤波在系统结构辨识中的应用[J].结构工程和地震工程,1998,15(1):73-84.Sato T,Qi K.Structural system identification using theH∞filter[J].Structural Engineering/Earthquake Engi-neering,1998,15(1):73-84.
[2]张平,时和平,董红军.基于H∞滤波的RDSS/INS组合导航研究[J].弹箭与制导学报,2006,26(3):30-31.ZHANG Ping,SHI He-ping,DONG Hong-jun.Researchon RDSS/INS integration based on H∞filter[J].Journalof Projectiles,Rockets,Missiles and Guidance,2006,26(3):30-31.
[3]贾志凯,房建成,李艳华.带遗忘因子的H∞滤波在机载SAR运补系统中的应用[J].中国惯性技术学报,2003.11(2):6-8.JIA Zhi-kai,FANG Jian-cheng,LI Yan-hua.On H∞filte-ring with forgetting factor for airborne SAR motion com-pensation system[J].Journal of Chinese Inertial Technol-ogy,2003,11(2):6-8.
[4]屈新芬,李世玲,魏可惠.定位用SINS/GPS组合算法仿真及设计[J].信息与电子工程,2006,4(4):258-263.QV Xin-fen,LI Shi-ling,WEI Ke-hui.Analysis and simu-lation of SINS/GPS combination system using to position[J].Information and Electronic Engineering,2006,4(4):258-263.
[5]赵伟,袁信,林雪原.采用H∞滤波器的GPS/INS全组合导航系统研究[J].宇航学报,2002,23(3):265-267.ZHAO Wei,YUAN Xin,LIN Xue-yuan.Research oncomplete GPS/INS integration using H∞Filter[J].Jour-nalof Astronautics,2002,23(3):265-267.
[6]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出社,2007.
[7]Babak Hassibi,Ali H Sayed,Thomas Kailath.Krein空间的线性估计-第二部分:应用[J].IEEE自动控制学报,1996,41(1):34-49.Babak Hassibi,Ali H Sayed,Thomas Kailath.Linear esti-mation in Krein spaces-partⅡ:applications[J].IEEETransactions on Automatic Control,1996,41(1):34-49.
[8]Sato T,Qi K.H∞滤波在系统结构辨识中的应用[J].结构工程和地震工程,1998,15(1):73-84.Sato T,Qi K.Structural system identification using theH∞filter[J].Structural Engineering/Earthquake Engi-neering,1998,15(1):73-84.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心