自适应联合H_∞滤波器及其在组合导航系统中的应用

Adaptive federated H_∞ filter and its application in integrated navigation system

研究了联合H∞ 滤波模型融合信息在各子滤波器中的分配原则 ,利用改进的Elman网络设计了信息分配系数自适应调节算法 ,给出了引用此算法的自适应联合H∞ 滤波器模型 ,并且给出了该模型的详细算法 .MIMU/GPS/HMR组合导航系统的仿真结果表明 ,应用本文提出的自适应联合H∞ 滤波器实现了融合信息在各局部滤波器和主滤波器的自适应分配 ,提高了系统状态估计精度和滤波器解算速度 .

The information allocation method of federated H∞ filter was studied. An adaptive algorithm of the information sharing coefficients was designed based on advanced Elman networks. Moreover, a new model of the adaptive federated H∞ filter was presented. As an example of application, the new filter was applied to MIMU (micro-inertial measurement unit)/GPS (global positioning system)/HMR integrated navigation system. The computer simulation results prove that the adaptive federated H∞ filter can not only realize the adaptive distribution of fusion information but also greatly improve the system state accuracy and computing speed.