| 鲁棒UKF滤波算法在SINS初始对准中的应用 |
| |
| 引用本文： | 周本川,程向红.鲁棒UKF滤波算法在SINS初始对准中的应用[J].东南大学学报,2011,27(1):56-60. |
| |
| 作者姓名： | 周本川 程向红 |
| |
| 作者单位： | 东南大学微惯性仪表与先进导航技术教育部重点实验室,南京,210096 |
| |
| 基金项目： | The National Basic Research Program of China (973 Program) (No. 613121010202) |
| |
| 摘 要： | 针对系统存在不确定性扰动时传统UKF滤波算法的滤波精度和鲁棒性均下降的问题,提出了一种基于H∞范数的鲁棒UKF滤波算法.该算法在Krein空间内对简化UKF滤波算法进行改进,增加了一个鲁棒环节.鲁棒环节通过引入给定正常数调整滤波增益从而提高滤波算法的鲁棒性能.在SINS大方位失准角初始对准中对简化UKF滤波算法和鲁棒U...
|
| 关 键 词： | 无迹卡尔曼滤波 鲁棒性 Krein空间 初始对准 大方位失准角 |
Robust UKF algorithm in SINS initial alignment |
| |
| Zhou Benchuan Cheng Xianghong.Robust UKF algorithm in SINS initial alignment[J].Journal of Southeast University(English Edition),2011,27(1):56-60. |
| |
| Authors: | Zhou Benchuan Cheng Xianghong |
| |
| Institution: | Zhou Benchuan Cheng Xianghong(Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education,Southeast University,Nanjing 210096,China) |
| |
| Abstract: | In the traditional unscented Kalman filter(UKF),accuracy and robustness decline when uncertain disturbances exist in the practical system.To deal with the problem,a robust UKF algorithm based on an H-infinity norm is proposed.In Krein space,a robust element is added in the simplified UKF so as to improve the algorithm.The filtering gain is adjusted by the robust element and in this way the performance of the robustness of the filtering algorithm is promoted.In the initial alignment process of the large head... |
| |
| Keywords: | unscented Kalman filter(UKF) robustness Krein space initial alignment large heading misalignment angle |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
