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中文摘要：
无源北斗/惯导（INS）组合导航系统中,INS噪声特性和模型存在不确定性,不能很好地满足Kalman滤波对系统的要求,造成滤波系统对误差状态估计不准,影响了对准精度。研究了对系统噪声和模型等不确定性具有较强鲁棒性的H∞滤波算法,建立了无源北斗/INS组合对准误差模型,并分别采用H∞滤波、常规卡尔曼滤波和衰减记忆滤波进行了比较仿真。结果表明,采用H∞滤波可以进一步保证对准的快速性和对准精度,在实际应用中有较高参考价值。
英文摘要：
In passive BD/INS,Kalman filter is affected by the noise characteristic＇s uncertainty and the model error＇s instability of INS,the error state can＇t be estimated exactly by the filter and the alignment precision is affected.H∞ filter algorithm is researched.It has good robust performance on the uncertainty of system model and noise.The error model of passive BD/INS integrated alignment is established.Simulation experimentation is implemented by using H∞ filter,and is compared with fading-memory filter and Kalman filter.Simulation results indicate that the precision and rapidity of passive BD/INS integrated alignment are improved owning to using the H∞ filter,which has practical value in engineering application.
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