中国科技核心期刊

中文核心期刊

CSCD来源期刊

空间控制技术与应用 ›› 2015, Vol. 41 ›› Issue (2): 18-23.

• 学术研究 • 上一篇    下一篇

应用于MEMS_SINS/GPS组合导航系统的 H∞容错滤波算法

  

  • 出版日期:2015-04-21 发布日期:2015-04-27

An H∞ FaultTolerant Filter and Its Application in MEMS_SINS/GPS Integrated Navigation Systems

  • Online:2015-04-21 Published:2015-04-27

摘要: 针对基于微机电系统(MEMS, micro electro mechanical system)的捷联惯性导航系统(SINS, strapdown inertial navigation system)与全球定位系统(GPS, global positioning system)组成的组合导航系统中存在不确定干扰并且GPS量测输出中经常含有故障信号的情况,提出一种H∞容错滤波算法,能够对不确定噪声干扰具有鲁棒性,并且能够在检测到故障信号后进行容错计算,使滤波精度始终保持在要求的范围内.基于H∞滤波器,在状态估计方程中加入加权因子,使滤波器具有容错的功能,并且适用于组合导航中量测分量的数量级相差很大的情况.仿真试验结果表明,该算法能有效降低GPS中故障信号的不利影响,使系统在故障存在期间仍能正常工作.

关键词: 组合导航, 捷联惯性导航系统, 微机电系统, 滤波, 容错滤波

Abstract: In MEMS_SINS/GPS integrated navigation systems, there exist uncertain/unknown disturbances, and the output of GPS often contains fault signals. In order to deal with these problems, an H∞ faulttolerant filter is proposed, which is robust against uncertain disturbances and can take faulttolerant computation after a fault is detected. With this function, the filtering accuracy is kept in the required range during the whole process. Based on the H∞ filter, weighting factors are added into the state estimation equation. In addition, the measurement component is weighted individually so that this algorithm is applicable to the situation with very different measurement magnitude. The simulation results show that it can significantly reduce the impact of the fault signals and the system can work in the normal range.