摘要
以六加速度计的配置方案为例,介绍了GFSINS的工作原理;对GFSINS/GPS组合导航系统选择滤波器问题进行了详细的理论分析,提出了基于H∞滤波器的组合方法;该方法将惯性器件的各种误差看作系统的不确定性误差,有效地解决了GFSINS/GPS采用间接法组合时,无法建立准确系统线性模型及得到准确噪声统计特性的问题。通过仿真验证了该方法的有效性。
The working principle of Gyro-Free Strap-down Inertial Navigation System （GFSINS） is introduced by using an example of a six-accelerator configuration scheme. Theoretical analysis was made on filter selection in GFSINS/GPS integrated navigation system, and an integration method based on H＊＊ filter was put forward. In indirect GFSINS/GPS integration, it is difficult to establish an exact linear model and obtain accurate noise statistical property. This method solved the above problems effectively by taking the various errors of inertial devices as uncertain errors of the system. Simulation experiment shows the effectiveness of this method.
出处
《电光与控制》
北大核心
2009年第9期63-66,69,共5页
Electronics Optics & Control
关键词
无陀螺惯性导航系统
GPS
组合导航系统
H∞滤波
Gyro-Free Strap-down Inertial Navigation System（GFSINS）
GPS
integrated navigation sys-tem
H∞ filter
