抗野值H∞滤波在捷联惯导系统传递对准中的应用

Application of outlier-tolerant H∞ filter to transfer alignment of SINS

H∞滤波器相对Kalman滤波器对模型误差及噪声特性等具有更好的鲁棒性，因此被越来越多的应用在捷联惯导系统传递对准过程中。但是，当用于传递对准的基准信息由于受到电磁干扰、传输误码等因素的影响，而出现短时不更新等异常情况时，H∞滤波器与Kalman滤波器一样将受到很大的影响，导致滤波曲线波动甚至引起滤波发散。针对这种情况．本文提出一种具有抗野值功能的H∞滤波器，通过对新息的判断，将基准信息区分为正常值与野值，并对野值做相应处理，消除其对滤波器的影响，从而使H∞滤波器对短时异常基准信息具有鲁棒性，增加了滤波器的稳定性。最后通过试验验证表明，上述分析和结论是正确和有效的，提出的抗野值H∞滤波能更好的满足实际工程应用。

H∞ filter is more and more used in transfer alignment of SINS, because it has a better robustness to model errors and noise characteristics than Kalman filter. But the reference information with faults caused by electro magnetic interference and transmission error code has a bad influence to the performance of H∞ filter, as well as Kalman filter. The filter will even be leaded to unsteadily. In order to solve the problem, a new faulttolerant to outlier H∞ filter is studied in this article. By analyzing the innovations, the reference information is distinguished to normality and abnormality, and the abnormal information is partly used. So the new H∞ filter can be robust to false reference information, and has a better steadily. The experiment results show the feasibility and effectiveness of the proposed methods and conclusions. And the new method can satisfy the requirements of the practical application demands better.