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在惯导/星光(INS/CNS)组合导航中,由于集中卡尔曼滤波存在对系统模型和噪声统计特性依赖性等缺点,将H∞滤波方法理论应用其中。给出了H∞滤波的滤波方程,定性讨论了kalman滤波和H∞滤波的关系,通过在INS/CNS组合导航系统中的实际应用进一步从精度和鲁棒性对两种滤波算法进行了比较。仿真结果表明,当噪声为有色噪声或统计特性不确定时,H∞滤波优于kalman滤波,说明了该算法的有效性和可行性。
In INS / CNS (Integrated Navigation), H∞ filtering method is applied to the theory because of its shortcomings such as dependence on the statistical properties of the system model and noise. The filter equations of H∞ filtering are given. The relationship between kalman filter and H∞filter is qualitatively discussed. The two filtering algorithms are further compared with the accuracy and robustness by the practical application in INS / CNS integrated navigation system. The simulation results show that H∞ filtering is better than kalman filtering when the noise is colored noise or the statistical properties are uncertain, which shows the effectiveness and feasibility of the proposed algorithm.