基于H_∞与Kalman联合滤波的二次快速传递对准方法研究

Study on an Approach to Two Time Rapid Transfer Alignments Based on H_∞ Filtering Associated with Kalman Filtering

将H∞滤波用于舰载导弹捷联惯导系统(SINS)的动基座传递对准。仿真研究结果表明,在测量噪声强度较小时,H∞滤波方法的显著特点是估计速度优于Kalman滤波,其估计精度略低于Kalman滤波。为提高动基座传递对准的快速性,将精对准分为两次进行。第一次精对准利用H∞滤波估计速度快的这一优点,通过速度匹配进行水平对准,第二次精对准采用Kalman滤波通过速度加姿态变化量匹配进行航向对准。仿真结果表明,在测量噪声强度较小时,第一次对准可在2秒钟之内完成,第二次对准可在7秒钟之内完成。两次传递对准可在9秒钟之内完成。

H∞ filter was applied to the transfer alignment of marine missile Strapdown Inertial Navigation System on a moving base. Simulation shows that if measurement noise is small, the outstanding feature of H∞ filter is superior to Kalman filtering in estimation speed, but its estimation accuracy is slightly lower than Kalman filter. In order to enhance the rapidity of the transfer alignment, the accurate alignment was achieved in twice. In the first time alignment, H∞ filter feature being taken advantage of, horizontal alignment was achieved by velocity match. In the second time alignment, Kalman filter being used, azimuth alignment was achieved by velocity plus attitude change match. Simulation shows that if measurement noise is small, the first time alignment is achieved in 2 seconds, and the second time alignment is achieved in 7 seconds, and the accurate alignment is achieved in 9 seconds.