吉林大学学报(信息科学版) ›› 2015, Vol. 33 ›› Issue (3): 261-266.

• 论文 • 上一篇    下一篇

惯性/北斗组合导航系统的鲁棒H∞滤波

李艳辉, 杨琦   

  1. 东北石油大学 电气信息工程学院, 黑龙江 大庆 163318
  • 收稿日期:2014-07-18 出版日期:2015-05-23 发布日期:2015-07-25
  • 作者简介:李艳辉(1970—), 女, 辽宁法库人, 东北石油大学教授, 博士生导师, 主要从事鲁棒控制、 滤波和智能控制研究, (Tel)86-459-6504797(E-mail)LY_hui@hotmail.com, Li_yanhui2006@aliyun.com。
  • 基金资助:

    黑龙江省博士后科研启动基金资助项目(LBH-Q13177); 黑龙江省自然科学基金资助项目(F201403)

Robust H∞ Filtering on INS/BD Integrated Navigation System

LI Yanhui, YANG Qi   

  1. College of Electrical and Information Engineering, Northeast Petroleum University, Daqing 163318, China
  • Received:2014-07-18 Online:2015-05-23 Published:2015-07-25

摘要:

为提高惯性/北斗组合导航系统的精度, 将鲁棒H∞滤波算法应用于惯性/北斗组合导航系统中, 该算法可克服模型的不确定性对滤波精度的影响, 并将滤波器的设计问题转化为线性矩阵不等式约束的凸优化问题。仿真试验最终表明, 鲁棒H∞滤波算法应用于组合导航系统是有效的。

关键词: 鲁棒H&infin, 滤波, 惯性/北斗组合导航, 线性矩阵不等式

Abstract:

INS/BD constitutes an integrated navigation system with high precision and complementary advantages, but the usual Kalman filtering can not obtain a satisfying precision. So the robust H∞ filtering is used for the INS/BD integrated navigation system, overcoming the precision impact caused by the model uncertainty, and converting the problem of filter designing into a convex optimization problem subject to LMI(Linear Matrix Inequality) constraints. Simulation experiments show this algorithm can be used for integrated navigation system effectively.

Key words: robust H∞ filtering, inertial navigation system(INS)/BD integrated navigation, linear matrix inequality(LMI), convex optimization

中图分类号: 

  • TP273