海底地形辅助导航系统滤波算法研究

Application of H_∞ Filter and Kalman Filter in TAN/INS Navigation System

分析了地形/惯导组合导航系统的状态方程,并对H∞滤波和卡尔曼滤波算法进行了对比分析,同时给出仿真结果。理论分析和仿真实验表明:H∞滤波算法和卡尔曼滤波都具有较好的收敛特性,能在一定程度上提高地形辅助导航系统精度,但H∞滤波的效果优于卡尔曼滤波。

In order to improve the accuracy of TAN/INS navigation system efficiently, this paper analyzes the equations of the system and compares the H∞ filter and Kalman filter. Also, the simulation results are given. The theoretical analysis and experimental results indicate that both the H∞ filter and Kalman filer have better convergence and can improve the precision of TAN/INS navigation system, but the effectiveness of the H∞ filter is better than that of the Kalman filter.