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针对系统模型不准确或噪声无法建模等导致的组合导航精度下降问题,在闭环间接滤波方案中引入一种基于变结构和滑模控制概念的平滑变结构滤波器(SVSF),该滤波器对于建模的不确定性和给定上限但无法建模的扰动噪声具有较好的稳定性和鲁棒性。将提出的方案应用于航天器SINS/GNSS组合导航系统中,进行仿真验证,并与EKF滤波器进行比较。仿真结果表明:SVSF尽管不是“最优”滤波器,但其精度与EKF相当,可实现位置精度优于10 m,速度精度优于0.01 m/s;在模型误差与测量误差增大和系统突变等情况下,其较EKF更加具有抗干扰能力,可提高导航系统的鲁棒性和稳定性。
In order to reduce the accuracy of combined navigation caused by the inaccurate system model or the inability to model noise, a smoothing variable structure filter (SVSF) based on the concept of variable structure and sliding mode control is introduced into the closed-loop indirect filtering scheme. The modeling uncertainty and disturbance noise with a given upper bound but not modeling have better stability and robustness. The proposed scheme is applied to spacecraft SINS / GNSS integrated navigation system, and verified by simulation and compared with EKF filter. The simulation results show that although the SVSF is not an “optimal ” filter, its accuracy is equivalent to that of EKF, the position accuracy is better than 10 m and the speed accuracy is better than 0.01 m / s. When the model error and the measurement error increase and the system Mutation and other circumstances, it has more anti-interference ability than EKF, navigation system can improve the robustness and stability.