基于H∞滤波的智能车辆多传感器组合导航研究

为适应自主驾驶智能车辆的高精度、高频率及高可靠性与鲁棒性的导航要求,对智能车辆的多传感器组合导航进行了研究。提出了一种基于H∞滤波的双向光电测速仪和CP-DGPS共同辅助SINS的智能车辆冗余组合导航方法。详细推导并建立了组合系统的滤波模型。仿真结果表明,该组合导航系统具有100Hz的高频输出、厘米级的导航精度以及良好的鲁棒性能与可靠性。即使系统特性发生了显著的变化,组合系统仍能为智能车辆提供可靠的导航信息。

Multi-sensor Integrated Navigation for Intelligent Vehicles Based on H∞ Filter

To satisfy the navigation demands such as high accuracy, high frequency and high reliability and robustness for autonomous intelligent vehicles, a new multi-sensor integrated and robust navigation technique was studied. A redundant integrated navigation method based on H∞ filter in which SINS was aided by photoelectric speedometer and CP-DGPS was proposed. The filter model of this navigation method was deduced and set up. Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with the cm-level navigation accuracy, good robustness and reliability. Even when the system features such as the noise features change largely, the integrated navigation system can still offer reliable navigation information for the intelligent vehicle control.