自适应非线性滤波及其在图像导航中的应用

Adaptive Non- linear Estimation and its Application in Image- Based Navigation

本文首先介绍了飞行器末制导中采用图像导航的原理和方法，给出了系统模型。针对图像导航的实际情况，提出了自适应非线性Sage-Husa滤波，能在线估计系统的常值偏差及噪声方差。将滤波算法应用到图像导航中，进行仿真，滤波收敛，结果令人满意。

This paper demonstrates the theoretical principle and method on image- based navigation applied to a flying vehicle's nearfield guidance system,and presents the mathematical model of tile system. Based on the analysis of image - aided navigation,an adaptive non- linear Sage - Husa estimation algorithm is proposed,which canbe used to estimate the constant error and the noise's covariance for the system. By ap. plying the Sage - Husa estimation algorithm to image- based navigation,simulation hasbeen carried out. The simulation result shows that estimating process is convergent andthe estimation algorithm meets the requirements.