中文摘要：

针对常规H∞滤波在组合导航系统中滤波精度不高的问题，采用闭环反馈的方法对滤波加以改进；并在闭环H∞滤波迭代方程中引入遗忘因子，利用量测噪声的变化自适应调整滤波增益，构成自适应闭环H∞滤波．理论分析表明，该改进的滤波算法降低了噪声干扰，但不影响H∞滤波本身的鲁棒性．无源北斗／SINS组合导航系统跑车数据的半物理仿真进一步表明，自适应闭环H∞滤波下的组合导航精度明显优于采用开环H∞滤波或不带有遗忘因子的闭环H∞滤波算法的导航精度，从而验证了改进滤波算法的有效性．

英文摘要：

To deal with the low precision of normal H-infinity filter in the integrated navigation system, the closed-loop feedback is employed for the H-infinity filter. In the closed-loop H-infinity filter, a forgetting factor is introduced to adjust the filter gain automatically based on the level of the measurement noise, constituting a closed-loop adaptive H-infinity filter. The theoretical analysis indicates that this adaptive close-loop H-infinity filter lowers the disturbance noise level, without affecting the inherent robustness of the H-infinity filter. Finally, the trial experiment of passive BD/SINS integrated navigation system shows that the navigation precision of the system with the adaptive closed-loop H-infinity filter is higher than that with the open-loop H-infinity filter, or the closed-loop H-infinity filter without the forgetting factor. This verifies the efficacy of the proposed H-infinity filter in raising the precision of the integrated navigation system.