杆臂效应补偿中H_∞滤波器的应用与设计

Application and design of H_∞ filter for lever-arm compensation

针对大杆臂或高挠曲条件下杆臂长度不确定性引起的速度匹配误差问题,引入了H∞滤波技术.首先,在力学补偿法的基础上,利用标称杆臂构建杆臂效应量并进行补偿.然后,将不确定性杆臂引起的杆臂效应误差量纳入量测噪声,利用H∞滤波的鲁棒性对能量有限的不确定性量测噪声进行抑制,并给出了滤波器的递推算法.最后,以大型舰船主/子惯导传递对准为例,仿真比较了传递对准中使用真实杆臂与标准Kalman滤波、标称杆臂与标准Kalman滤波、标称杆臂与H∞滤波3种方案的处理效果.仿真结果表明,在杆臂长度存在挠曲变形时,采用H∞滤波可以有效提高传递对准的精度.

The H∞filtering is introduced to deal with the velocity matching error,which is caused by the uncertainty of lever-arm size in the condition of long lever-arm size and severe flexure deformation.Firstly,on the basis of mechanical compensation,the lever-arm effect value is calculated and compensated with a nominal lever arm.Secondly,the lever-arm effect error caused by an uncertain lever arm is considered to be measurement noise.The uncertain measurement noise with limited energy is restrained by the robustness of the H∞filter,and the recurrence formula of the filter is presented.Finally,the transfer alignment between a master inertial navigation system and a slave inertial navigation system of a large ship is studied.Three schemes of transfer alignment by respectively using a real lever-arm and the standard Kalman filter,a nominal lever-arm and the standard Kalman filter,a nominal lever-arm and the H∞filter are compared.The simulation results indicate that the transfer alignment precision can be improved by the H∞filter when there is flexure deformation in the lever-arm size.