【摘要】 在理想条件下，卡尔曼滤波技术应用于惯性导航系统的地面初始对准可实现快速对准并且具有较高的精度，然而在系统模型和统计特性存在不确定性的条件下，Ｈ∞滤波可有效地解决卡尔曼滤波应用受到的限制，不仅估计精度高，而且还具有鲁棒性。本文将Ｈ∞滤波应用于惯性导航系统地面自对准，仿真结果表明，对准过程不仅速度快、精度高，而且还具有鲁棒性，效果优于卡尔曼滤波。更多还原

【Abstract】 Kalman filter provided a fast and accurate method for inertial navigation system alignment in benign conditions. When there are uncertainty in dynamic model and/or the statistics of noise soures are not fully know or unavailable, H ∞ filter can solve the restrictions in the applications of Kalman filtering, and provide high precise fast ground alignment as well as roubstness against uncertainty.In this paper, H ∞ filter has been applied to ground alignment,simulation results demonstrate that the alignment is fast accuracy and roubstness and the results are better than Kalman filtering.更多还原