高动态环境下基于H_∞滤波的深组合导航技术

Research on Technology of Tightly Integrated Navigation based on H_∞ Filter in the High Dynamic Circumstance

捷联惯性导航系统(SINS)/全球定位系统(GPS)组合导航系统是适用飞机和现代武器装备的高精度导航系统。针对高动态环境下GPS/SINS组合导航系统的定位精度问题,以炮射无人机为例提出基于H∞滤波技术的SINS/GPS伪距、伪距率深组合导航方案,用于提高高动态环境下组合导航系统的精度和鲁棒性。仿真结果表明,H∞滤波器不但比Kalman滤波器鲁棒性强,而且可用于带有强有色噪声的高动态系统中,并能保持较高的精度。

The systemic study of the integrated navigation system for high dynamic vehicles is limited. Thus SINS/GPS integrated navigation theories and algorithms,which are fit for high dynamic circumstance,have not been formed in respect of integrity and maturity. Therefore,based on the theory of H∞filtering,the pseudorange and pseudorange rate tightly integrated SINS/GPS navigation system is studied for GLUAV in this paper. The system can improve the precision and robustness of navigation system in the high dynamic circumstance. Simulation results show that H∞filtering algorithm has better robustness and accuracy for model uncertainties and statistics characteristics of disturbance variations,which overcomes some limitations of Kalman filtering.