惯导传递对准中的两种滤波算法对比分析

Comparison of Two Filtering Algorithms for INS Rapidly Transfer Alignment

为了克服传递对准中系统噪声不确定带来的影响,将次优H∞滤波方法用于捷联惯导动基座传递对准,针对速度匹配传递对准的全维模型和降维模型进行了卡尔曼滤波和次优H∞鲁棒滤波仿真研究,给出了白噪声下失准角的估计曲线。仿真结果表明速度匹配传递对准具有较高的对准精度,卡尔曼滤波的估计精度比次优H∞鲁棒滤波高,但收敛速度和鲁棒性不如次优H∞鲁棒滤波。

In order to conquer the influence of the uncertainty of system noise in transfer alignment, H∞ filter was used for the SINS moving-base transfer alignment, and Kalman filter and H∞ filter simulation research was conducted focused on the full model and lower model. The results suggest that the estimating accuracy of Kalman filter is equivalent to that of robust filter, but convergence rate of robust filter is much better than that of Kalman filter.