【摘要】 在配备了捷联惯导、GPS、北斗、计程仪和罗兰C等多个导航设备的综合船桥导航系统中,针对常规的无重置联邦滤波器长时间导航会引起导航精度降低和滤波器发散的问题,以及实际应用中卡尔曼滤波对系统噪声和量测噪声统计特性要求的局限性采用了局部反馈校正的无重置联邦滤波结构,设计了基于H_∞滤波的局部反馈校正无重置联邦滤波器,并将其应用于综合船桥多源导航信息融合系统中。仿真分析表明,基于H_∞滤波的局部反馈校正无重置联邦滤波器对航向角和位置的估计精度都高于常规的无重置联邦滤波器,具有更好的实际应用价值。更多还原

【Abstract】 The information fusion problem is studied for the integrated bridge system(IBS),equipped with SINS,GPS,Beidou,log and Loran C,Aiming at the problems of navigation accuracy reducing and filter diverging of the no-reset federated filter after long-running, and taking account of the limitation of Kalman filter for statistics system noise and measurement noise in practical applications, the local feedback compensation based no-reset federated filter structure is adopted.A local feedback compensation based no-reset federated filter with H_∞filtering is presented,which is used to design the navigation information fusion system of IBS.Simulation analysis shows that the estimation accuracy of head and position with the local feedback compensation H_∞no-reset federated filter is higher than the accuracy of the commen no-reset federated filter.更多还原