【摘要】 针对常规H_∞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H_∞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H_∞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H_∞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H_∞滤波下的组合导航精度明显优于采用开环H_∞滤波或不带有遗忘因子的闭环H_∞滤波算法的导航精度,从而验证了改进滤波算法的有效性.更多还原

【Abstract】 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.更多还原