摘要
纯捷联惯性导航系统的精度主要受限于传感器精度,为了在固有的传感器精度上进一步提高纯捷联惯性系统导航精度,提出了一种基于自适应H∞滤波的运动学约束辅助惯性导航算法。利用运动约束条件,将载体系中的侧向和上向速度作为量测量,将纯捷联惯性导航系统输出的姿态误差、速度误差及传感器误差作为状态量,采用一种能够自动调节滤波器参数的自适应H∞滤波方法以提高系统性能。实验结果表明,所提出的自适应H∞滤波运动学约束算法与无约束纯惯导算法相比能够提高23.7%~81%的定位精度,与无自适应H∞滤波运动学约束算法相比能够提高16.3%~62.2%的定位精度。
The accuracy of pure strapdown inertial navigation system (SINS) is mainly limited by the accuracy of the sensor. In order to improve the precision of SINS without replacing the sensor, a motion constrained assisted inertial navigation algorithm based on adaptive H∞ filtering is proposed. Based on the motion constraints, the lateral and vertical velocities in the SINS carrier system are chosen as the observation. Taking the attitude error, velocity error and sensor error of SINS as system states, an adaptive H∞ filtering method that can automatically adjust the filter parameters is adopted to improve the system performance. Experimental results show that the proposed adaptive H∞ filtering motion constraint algorithm can improve the positioning accuracy by 23.7%~81% compared with the unconstrained pure inertial navigation algorithm, and by 16.3%~62.2% compared with the normal H∞ filtering motion constraint algorithm.
作者
程向红
赵莹
田芸
CHENG Xianghong;ZHAO Ying;TIAN Yun(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China;School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China;Tianjin Navigation Instruments Research Institute, Tianjin 300131, China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第3期295-300,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金资助项目(61773116)
关键词
惯性导航
自适应算法
H∞滤波
运动学约束
inertial navigation
adaptive algorithm
H∞ filtering
motion constraints
