基于H_∞滤波的GPS/INS全深组合导航系统研究

Research on Complete GPS/INS Integration Based on H_∞ Filter

根据 H∞ 鲁棒滤波理论 ,提出了基于 H∞ 滤波技术的 GPS/INS全深组合导航系统。该系统仅含有位置误差、速度误差和平台误差角 9维状态 ,并利用伪距、伪距率和载波相位观测信息对全部状态进行观测 ,组成全深组合导航系统 ,由 H∞ 滤波来提高系统的鲁棒性。文中对提出的组合系统进行了动态仿真 ,仿真结果表明 ,该系统结构简单 ,状态估计精度高 ,系统鲁棒性好 。

Based on the theory of H ∞ robust filter, a tightly integrated GPS/INS system is presented using H ∞ filter. The variable state includes position error, velocity error and attitude error and measurement is composed of pseudorange, pseudorange rate and carrier phase. In order to improve the robust of the complete integrated navigation system, H ∞ robust filter is adopted. The dynamic simulation is carried out and the result shows that the simplified system can work with better precision and excellent robustness. The scheme can put into practice easily.