摘要
针对因风浪干扰、高频颤振等因素影响,使得舰载机惯导海上自对准量测方程中产生未知的量测干扰,进而导致滤波器性能降低的问题,引入H∞滤波技术。阐述了舰载机捷联惯导海上自对准的基本思想,建立了自主精对准状态空间模型,设计了一种基于H∞滤波的自对准滤波器,有效抑制了外界噪声的干扰,确保了系统的鲁棒性。仿真结果表明,常规卡尔曼滤波在5 min的对准时间里,无法完成对姿态角误差的估计。而H∞滤波在5 min内,不但可以估计出姿态误差角误差,且水平对准精度在2以内,方位对准精度约12,还可以估计出陀螺零偏和加速度计零偏误差,并可以获得较好的快速性和平滑性,不失为一种有效的海上自对准方法。
The H∞filtering was introduced to solve the problems of low filtering performance which derived from uncertainty noise caused by wind and wave and high frequency vibrancy in measurement equation of self-alignment of SINS for the carrier plane.First,the basic idea of self-alignment of SINS for the carrier plane on the sea environment was formulated.Second,the state space model for precision alignment of SINS in swing base with large amplitude was built.Finally,a filter of self-alignment based on H∞filter for SINS of the carrier plane was designed.This method has effectively suppressed the external noise interference and ensured the robustness of the system.Simulation results show that the Kalman filter can not complete estimation of attitude error in 5 min,while H∞filter can not only estimate attitude error,but also estimate the gyro constant drift error and the accelerometer bias error.The level alignment precision is within 2,while the azimuth alignment precision is about 12.Meanwhile,it can obtain better rapidity and filtering accuracy.The method may after all be regarded as an effective self-alignment method on the sea.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2012年第5期536-539,共4页
Journal of Chinese Inertial Technology
基金
光电控制技术国防科技重点实验室资助项目(20120224006)
关键词
捷联惯导系统
H∞滤波
风浪干扰
自对准
等速航行
SINS
H∞filter
disturbance from wind and wave
self-alignment
voyaging with constant speed
