摘要
基于微机电(MEMS)惯性仪表构成的微惯性测量装置(MIMU),其系统噪声特性不确定,影响了卡尔曼滤波器收敛过程,从而对MIMU/GPS组合系统性能产生不利影响。将鲁棒H∞滤波技术应用于该组合系统,确定了一种H∞滤波求解方法,给出了滤波器的推导步骤。该算法虽不具备最优滤波特性,但却具有更好的稳定性和鲁棒性。通过仿真实验,确定了H∞滤波器中的性能因子γ具体数值,使滤波器在可接受的估计精度下具有最佳鲁棒效果,它能在复杂的噪声环境下很好地估计出MIMU的主要误差,验证了H∞滤波对于噪声的不敏感程度和鲁棒性,提高了MIMU/GPS这类组合导航系统整体性能。
The noise characteristic＇s uncertainty of the micro-inertial measurement unit（MIMU） based on micro electro-mechanical system（MEMS） inertial instruments affected the convergence of Kalman filter, and lowered the MIMU/GPS integrated navigation system＇s performance. An H- filter was put forward and applied to MIMU/GPS integrated navigation system, and a solution method of H. filtering and its deduction steps were established. Although this algorithm wasn＇t optimal, it had a higher performance. Through simulation experiments, the factor y of H∞ filter was confirmed, that is, it made the filter has the best robustness with acceptable estimation accuracy. Then the main errors of MIMU could be well estimated under complex noise environment, and the insensitivity to noise and robustness of the H∞ filter were proved. So the precision and stability of integrated navigation system are improved.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期456-459,463,共5页
Journal of Chinese Inertial Technology
基金
国防科技预研基金项目(513090302)
关键词
微惯性测量装置
组合导航
H∞滤波
鲁棒
micro inertial measurement unit（MIMU）
integrated navigation
H∞ filtering
robust
