基于H_∞滤波的车载捷联惯导初始对准研究

Study on initial alignment of strapdown inertial navigation for land vehicle based on H_∞ filter

为了提高车载捷联惯导的对准精度和收敛速度,文中从信号源开始考虑,运用小波域阈值滤波方法对信号进行滤波,然后使用H∞滤波来进行初始对准。最后,经过实际结果分析表明,采用小波域阈值滤波和H∞滤波滤波方法有效提高了收敛速度和对准精度,能够满足常规环境下车载导航的要求,有较大的工程实用价值。

Taking the signal source into account,Bringing threshold filter in wavelet domain to bear to filter the signal,the H∞ filter is used to initial alignment for increasing the alignment precision and constringency speed of strapdown inertial navigation for land vehicle.Eventually,the method of using threshold filter in wavelet domain and H∞ filter can advance the alignment precision and constringency speed and fulfill the need of navigation for land vehicle in general environment with great engineering utility value by practice analysis result.