Lyapunov adaptive filtering and its application in INS/SMNS integrated navigation system
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摘要: 为克服在惯导/景像匹配导航系统(INS/SMNS,Inertial Navigation System/Scene Matching Navigation System)组合导航系统中随着匹配点增多最小二乘法易出现发散的缺点,提出了一种基于多输入多输出(MIMO,Multi-Input-Multi-Output)系统的改进型Lyapunov自适应滤波算法.该方法利用观测方程信息,通过定义滤波误差和预测误差获得算法的递推公式,而算法的稳定性和收敛性可由Lyapunov稳定性理论来证明.以INS/SMNS组合导航系统为例进行了仿真验证,和递推最小二乘算法相比该算法简单、可靠,而且滤波的性能优于递推最小二乘算法.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.
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