| SINS／GPS／CNS组合导航中的鲁棒滤波算法研究 |
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| 引用本文： | 程娇娇,熊智,郁丰,吴旋,赵慧.SINS／GPS／CNS组合导航中的鲁棒滤波算法研究[J].航空计算技术,2013(6):30-34. |
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| 作者姓名： | 程娇娇 熊智 郁丰 吴旋 赵慧 |
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| 作者单位： | 南京航空航天大学自动化学院导航研究中心,江苏南京210016 |
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| 基金项目： | 国家自然科学基金项目资助（91016019,61374115,61210306075）;航空科学基金项目资助（2011ZC52044）;江苏省高校青蓝工程项目资助;江苏省高校优势学科建设工程项目资助;中央高校基本科研业务费专项资金资助（NP2012505）;国家留学基金委资助 |
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| 摘 要： | 组合导航系统难以精确建模、噪声统计特性难以获得等问题逐渐突出，严重影响了组合导航系统滤波器的稳定性。为提高SINS／GPS／CNS组合导航系统的鲁棒性，设计了基于H∞滤波理论的鲁棒滤波算法，提高了导航系统对系统模型参数变化的适应能力。通过仿真与线性卡尔曼滤波器进行对比，验证了在系统模型参数变化的情况下，H∞滤波器精度几乎不发生改变，有更好的鲁棒性；提高了组合导航系统在噪声统计特性和模型参数不易确定情况下的导航性能。
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| 关 键 词： | 组合导航系统 SINS GPS CNS H∞滤波 卡尔曼滤波 |
Research on Algorithm of Robust Filtering in SINS/GPS/CNS Integrated Navigation System |
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| CHENG Jiao- jiao,XIONG Zhi,YU Feng,WU Xuan,ZHAO Hui.Research on Algorithm of Robust Filtering in SINS/GPS/CNS Integrated Navigation System[J].Aeronautical Computer Technique,2013(6):30-34. |
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| Authors: | CHENG Jiao- jiao XIONG Zhi YU Feng WU Xuan ZHAO Hui |
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| Institution: | (Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) |
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| Abstract: | Integrated navigation system is difficult to model accurately and statistical properties of noise are difficult to obtain. These increasingly prominent problems affect the stability of Kalman filter. This ar- ticle applies. To improve the rubost of SINS/GPS/CNS integrated navigation system, the article designed the algorithm in the ease of changing parameters of the system and compared the filter results of H∞ filter and Kalman filter. The results show that under the condition of model change, the precision of H ∞ filtering algorithm is almost the same. Therefore, in the case of noise statistics characteristics and model parameters is difficult to determine, H∞ filtering has better adaptability and improves the performance of the naviga- tion system. |
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| Keywords: | integrated navigation system SINS/GPS/CNS H∞ filtering Kalman filtering |
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