基于强跟踪SDRE滤波的GPS/INS组合导航

A Strong Tracking SDRE Filter for GPS/INS Integrated Navigation

提出了一种针对非线性不确定模型的强跟踪状态相关黎卡提方程(state-dependent Riccati equation,SDRE)滤波方法,并将其应用于飞行器的GPS/INS组合导航系统。该方法通过非线性系统的状态相关分解,避免了非线性系统线性化时面临的截断误差和计算Jacobian矩阵的问题,并通过引入自适应渐消因子提高了状态估计的鲁棒性。仿真结果表明,强跟踪SDRE滤波方法增强了导航系统的鲁棒性,提高了飞行器状态快速变化时的跟踪能力。

strong tracking SDRE filtering method for a nonlinear uncertainty model is proposed and applied to GPS/INS integrated naviga- tion system of a flight vehicle. The method, based on state-dependent factorization of nonlinear system, cuts down truncation errors and cal- culation of Jacobian matrix, which is caused by linearizing nonlinear system and enhances the robustness of SDRE filtering by introducing adaptive fading factor. The simulation results indicate the strong tracking SDRE filter improves the robustness of navigation system and the ability of the state tracking when the state of flight vehicle changes rapidly.