快速联合H_∞滤波在SINS/GPS组合导航中的应用

Application of fast federated H_∞ filtering in SINS/GPS integrated navigation system

针对捷联惯导/卫星定位(SINS/GPS)组合导航中联合卡尔曼滤波器对系统模型和噪声统计特性的依赖性和算法运算量大等缺点,提出了新的联合H∞滤波方法。定义了新的联合H∞滤波公式,提出了融合信息在子滤波器中自适应分配原则,简化了联合H∞滤波算法。由于H∞滤波不需要已知噪声的统计特性,因此新算法具有很强的鲁棒性,同时联合算法又可以有效地增加系统的容错能力。仿真实验证明新算法在稳定性和实时性上都有较大提高。

Because the effect of federal Kalman filtering in SINS/GPS integrated navigation depends on the system model and the statistical properties of noises, and the computing is complex, a new federal H∞ filtering is brought forward. The new formula of federal H∞ filtering is defined, the adaptive assignment principle of fusion information is advanced and the algorithm is simplified. It is no need to know the statistical properties of noises in H∞ filtering, so the new algorithm has strong robustness and improves the fault-tolerance capability of the system. The simulation result shows that the proposed method is better in stability and real time characters.