基于鲁棒滤波的组合导航系统动基座对准

基于采用旋转组件的SINS/GPS组合导航系统,讨论了系统中的旋转组件转速误差和GPS信号延迟带来的时间不同步问题,针对这些扰动造成的系统模型误差,提出将基于极小极大准则的H∞滤波用于组合导航系统的动基座对准。通过对载体在不同运动方式下的动基座对准仿真,对Kalman滤波和H∞滤波的性能进行比较,证明H∞滤波算法具有对准时间快,精度高,抗干扰能力强的特点。

Initial alignment on moving base for integrated navigation system based on robust filter approach

The method of rotating the IMU to improve the performance of system accuracy and design the SINS/GPS integrated systems are presented. The error of the rotation unit and the time asynchronous for the sake of GPS measure delay are analyzed. A H~ filter approach based on the minimax criterion is proposed to deal with the alignment of SINS on moving base. Comparing the performance of Kalman filter and H~ filter through digital simulation, this method shows that is makes initial alignment more quickly and prssesses such characters as high accurate and robustness.