CAJ | 학술논문

组合导航系统难以精确建模、噪声统计特性难以获得等问题逐渐突出，严重影响了组合导航系统滤波器的稳定性。为提高SINS/GPS/CNS组合导航系统的鲁棒性，设计了基于H∞滤波理论的鲁棒滤波算法，提高了导航系统对系统模型参数变化的适应能力。通过仿真与线性卡尔曼滤波器进行对比，验证了在系统模型参数变化的情况下，H∞滤波器精度几乎不发生改变，有更好的鲁棒性；提高了组合导航系统在噪声统计特性和模型参数不易确定情况下的导航性能。
조합도항계통난이정학건모、조성통계특성난이획득등문제축점돌출，엄중영향료조합도항계통려파기적은정성。위제고SINS/GPS/CNS조합도항계통적로봉성，설계료기우H∞려파이론적로봉려파산법，제고료도항계통대계통모형삼수변화적괄응능력。통과방진여선성잡이만려파기진행대비，험증료재계통모형삼수변화적정황하，H∞려파기정도궤호불발생개변，유경호적로봉성；제고료조합도항계통재조성통계특성화모형삼수불역학정정황하적도항성능。
Integrated navigation system is difficult to model accurately and statistical properties of noise are difficult to obtain .These increasingly prominent problems affect the stability of Kalman filter .This ar-ticle applies.To improve the rubost of SINS/GPS/CNS integrated navigation system ,the article designed the algorithm in the case of changing parameters of the system and compared the filter results of H ∞filter and Kalman filter .The results show that under the condition of model change ,the precision of H∞filtering algorithm is almost the same .Therefore ,in the case of noise statistics characteristics and model parameters is difficult to determine ,H∞ filtering has better adaptability and improves the performance of the naviga-tion system .