【摘要】 研究了基于卡尔曼滤波和基于H_∞滤波的两种初始对准方法。通过建模仿真及比较分析,得出了在外界噪声影响较大或有建模误差时,使用卡尔曼滤波将出现滤波延缓甚至发散现象,而使用H∞滤波,能有效克服传统Kalman滤波器性能恶化的问题,既可获得较高的对准精度,又提高了系统的实时性,从而从总体上提高初始对准效果。更多还原

【Abstract】 This paper discussed two kinds of initial alignment, one is based on Kalman filter, and the other is based on H∞ filter. Through modeling, simulating and comparing, we can conclude that using the former, the angle misalignment would be prolonged, even be emanated, when the system’s noise is not completely known or is very big. However, we can improve the standard Kalman filter performances by using H∞ filter. The latter that not only can surely alignment accuracy be obtained, but also the on-line result be improved. So H∞ filter is an available method for the initial alignment.更多还原