摘要
建立了以载波相位双差观测量对惯导位置误差直接进行观测的数学模型,应用H∞鲁棒滤波理论,对组合导航系统进行闭环反馈控制。在噪声特性不确定的情况下,确保了系统的可靠性和实时性。在同样条件下对上述模型与Kalman滤波进行了动态仿真并比较,结果表明,该系统状态估计精度较高,系统鲁棒性好,对实际工程应用具有良好的参考价值。
The measurement model of double-differenced GPS carrier phase and INS position error model is proposed to control the integrated system based on the theory of H∞ robust filter. It can ensure the robust and real-time characteristic of the integrated system even if the statistical properties of the noise disturbances is uncertain. The dynamic simulation of the given model and the Kalman filter model in the same condition concludes the given model has better precision and excellent robustness, which is valuable for reference of project applications.
出处
《传感器与微系统》
CSCD
北大核心
2007年第11期69-71,77,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60472125)
关键词
组合导航
载波相位
H∞滤波
integrated navigation
carrier phase
H∞ filters
