自适应闭环H1滤波在组合导航系统中的实现研究

Realization of adaptive closed-loop H-infinity filter in integrated navigation system

中文关键词  组合导航  H1鲁棒滤波  自适应滤波  闭环修正  无源北斗

英文关键词  integrated navigation  H-infinity filter  adaptive filter  closed-cycle correction  passive Beidou

中文摘要

      针对常规H1滤波在组合导航系统中滤波精度不高的问题, 采用闭环反馈的方法对滤波加以改进; 并在闭环H1滤波迭代方程中引入遗忘因子, 利用量测噪声的变化自适应调整滤波增益, 构成自适应闭环H1滤波. 理论分析表明, 该改进的滤波算法降低了噪声干扰, 但不影响H1滤波本身的鲁棒性. 无源北斗/SINS组合导航系统跑车数据的半物理仿真进一步表明, 自适应闭环H1滤波下的组合导航精度明显优于采用开环H1 滤波或不带有遗忘因子的闭环H1滤波算法的导航精度, 从而验证了改进滤波算法的有效性.

英文摘要

      To deal with the low precision of normal H-infinity filter in the integrated navigation system, the closed-loop feedback is employed for the H-infinity filter. In the closed-loop H-infinity filter, a forgetting factor is introduced to adjust the filter gain automatically based on the level of the measurement noise, constituting a closed-loop adaptive H-infinity filter. The theoretical analysis indicates that this adaptive close-loop H-infinity filter lowers the disturbance noise level, without affecting the inherent robustness of the H-infinity filter. Finally, the trial experiment of passive BD/SINS integrated navigation system shows that the navigation precision of the system with the adaptive closed-loop H-infinity filter is higher than that with the open-loop H-infinity filter, or the closed-loop H-infinity filter without the forgetting factor. This verifies the efficacy of the proposed H-infinity filter in raising the precision of the integrated navigation system.