基于非线性观测器的导航过程仿真研究

Simulation of Navigation Process Based on Nonlinear Observer

为解决传统观测器使用范围受假设条件限制的问题,在观测器建立过程中,设计了一种参数投影关系,并加入到观测器中,在不受假设条件约束的条件下使其保持半全局稳定,同时估计过程更加直接,使得非线性条件下的参数估计过程较快收敛。仿真结果表明,非线性观测器的计算量要比乘性扩展卡尔曼滤波减少了近80%。试验结果表明,非线性观测器的估计精度与乘性扩展卡尔曼滤波相当,并且可以有效提高参数估计的实时性,节约了时间,提高了导航效率。

In order to solve the problem that the scope of using thetraditional observers is limited by assumptions, in the process of establishing the observer, a parameter projection relationship is designed and added to the observer to keep it under the condition of not being constrained by the assumptions. It is semi-globally stable, and the estimation process is more direct, which makes the parameter estimation process under nonlinear conditions converge faster. The simulation results show that the computational complexity of the nonlinear observer is reduced by nearly 80% compared with the multiplicative extended Kalman filter. The experimental results show that the estimation accuracy of the nonlinear observer is comparable to that of the multiplicative extended Kalman filter, and it can effectively improve the real-time performance of parameter estimation, save time, and improved navigation efficiency.