摘要
针对INS/GPS/CNS/SAR多传感器组合导航系统在非理想条件下的鲁棒性、容错性和最优性问题,设计了一种基于联邦结构的容错组合导航滤波器,采用的算法主要包括联邦H∞鲁棒滤波算法、联邦滤波自适应容错信息分配策略、对角阵加权融合算法等。通过对滤波器的精度、鲁棒性、容错性等性能仿真对比分析,结果表明INS/GPS/CNS/SAR组合方案的合理性和滤波器设计的有效性。
Aimming at the robustness,fault tolerance and optimization problems of the multi-sensor integrated navigation system in non-ideal conditions,a sort of fault tolerant integrated navigation filter is put forward,which including federated H∞robust filtering algorithm,self-adapting fault tolerance information sharing method and optimal information fusion algorithm based on diagonal matrix weighting,etc. The comparison of filtering performance,including precision,robustness and fault tolerance,among INS / GPS / CNS / SAR and its sub-systems are simulated,and based on this,the rationality of the multi-sensor integrated navigation schemes and effectiveness of the new filter are proved.
出处
《指挥控制与仿真》
2015年第5期93-98,共6页
Command Control & Simulation
关键词
组合导航
联邦滤波
鲁棒性
容错性
integrated navigation
federated filter
robustness
fault tolerance
