Application of H∞ Filtering to Fast Ground Alignment of Inertial Navigation Systems
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摘要: 阐述了H∞滤波器的设计过程,并将H∞滤波方法应用于惯导系统地面初始对准.文中建立了惯导系统的误差模型,并对其进行了可观性分析,利用H∞滤波方法对可观子系统进行了滤波计算,给出了在噪声统计特性未知方差有界情况下惯导系统初始对准的仿真曲线,仿真结果表明该方法克服了卡尔曼滤波对噪声的苛刻要求,滤波效果能够满足工程需要,进一步说明H∞滤波应用于惯导系统初始对准是有效的.为提高对准速度,文中给出了方位误差角的一种快速估计方法,结果表明该方法是可行的.Abstract: The approach of H∞ filtering is presented, which is applied to alignment of inertial navigation systems. The error model of INS(Inertial Navigation System) is introduced,and the observability of the INS error model is analyzed. H∞ filter is designed to an observable subsystem. The simulation results of alignment are given in the condition of bounded noise variance and unknown noise statistics.The results show that H∞ filtering is robustness and it is less sensitive to uncertainty in the noise signals statistics than Kalman filtering. It is demonstrated that H∞ filtering is efficient to alignment of inertial navigation systems. In order to improve the velocity of alignment, a fast estimation method of the azimuth error angle is proposed for the initial alignment of INS . The simulation results illustrate the efficiency of the method.
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Key words:
- inertial navigation /
- Kalman filtering /
- detectability /
- H∞ filtering
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