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�������պ����ѧѧ�� 2005, Vol. 31 Issue (10) :1084-1086    DOI:
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Lyapunov����Ӧ�˲����� ��INS/SMNS����е�Ӧ��
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�������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100083
Lyapunov adaptive filtering and its application in INS/SMNS integrated navigation system
Zhao Long, Chen Zhe*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ Ϊ�˷��ڹߵ�/����ƥ�䵼��ϵͳ(INS/SMNS,Inertial Navigation System/Scene Matching Navigation System)��ϵ���ϵͳ������ƥ���������С���˷��׳��ַ�ɢ��ȱ��,�����һ�ֻ��ڶ���������(MIMO,Multi-Input-Multi-Output)ϵͳ�ĸĽ���Lyapunov����Ӧ�˲��㷨.�÷������ù۲ⷽ����Ϣ,ͨ�������˲�����Ԥ��������㷨�ĵ��ƹ�ʽ,���㷨���ȶ��Ժ������Կ���Lyapunov�ȶ���������֤��.��INS/SMNS��ϵ���ϵͳΪ�������˷�����֤,�͵�����С�����㷨��ȸ��㷨�򵥡��ɿ�,�����˲����������ڵ�����С�����㷨.
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Abstract�� In order to overcome the shortcomings that traditional least square algorithm tends to become divergence with the increase of matching points INS/SMNS (inertial navigation system/scene matching navigation system) integrated navigation system, an improved LAF(Lyapunov adaptive filtering), based on MIMO (multi-input-multi-output) system, is presented. On the basis of the information of observation formula in the algorithm, the recursive formula of LAF is obtained by the definition of filtering error and priori estimation error of LAF. The stability and convergence of LAF are proved by Lyapunov stability theory. LAF is applied to INS/SMNS integrated navigation system, and the simulation results demonstrate that compared with RLS( recursive least square) algorithm, LAF is simpler and more reliable, and its filtering performance is better.
Keywords�� adaptive filtering   inertial navigation system   scene matching navigation system   integrated navigation system     
Received 2004-07-02;
Fund:

���ջ�����ѧ����������Ŀ(03D51007); �й���ʿ�����������Ŀ(2005037298)

About author: �� ��(1976-),��,���ɹų����,��ʿ��, flylong518@tom.com.
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����, ����.Lyapunov����Ӧ�˲����� ��INS/SMNS����е�Ӧ��[J]  �������պ����ѧѧ��, 2005,V31(10): 1084-1086
Zhao Long, Chen Zhe.Lyapunov adaptive filtering and its application in INS/SMNS integrated navigation system[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(10): 1084-1086
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