基于鲁棒控制UKF算法在组合导航中应用研究.doc

基于鲁棒控制的UKF算法在组合导航中的应用研究
摘要:GPS_INS这两种导航方式的组合,有效的提高了导航精度,形成优势互补结构,但是在高动态的外部环境影响下,观测模型一般为非线性,滤波结果易发散,最终导致精度下降。而鲁棒控制中的控制理论通常被应用于系统模型和噪声不确定的环境,因此提出了基于鲁棒控制的UKF滤波算法,既保证了滤波结果的稳定性,同时也避免了高阶项截断误差,提高了滤波精度。仿真结果表明,组合导航系统可以提高导弹的定位精度,滤波误差明显减小,满足实时性和精度要求,同时减小了方向漂移对制导导弹的影响。
关键词:惯性导航;鲁棒控制;位置组合导航;UKF
Unscented kalman filter algorithm based on robust control research and application to integrated navigation system
Abstract:GPS_INS, this two kinds of navigation bined ,improve the accuracy of the navigation effectively, form advantage plementary architecture, but in the influence of the high dynamic environment , the observed model is general nonlinear, so the filter results is prone to spread, which led to the precision decline eventually . And the control theory of robust control is often used in the system model and the noise of the uncertainty environment, it is put forward based on robust control UKF filtering algorithm, not only ensure the stability of the filter results, but also avoid the high order of truncation errors, improve the precision filter. The simulation results show that the integrated navigation system can improve the accuracy of missile, reduce filter errors considerably, meet the real-time and accuracy requirement, and reducethe the effect of the direction to drift guided missiles.
Keywoed: intertial navigation; robust control; combined navigation; UKF
引言
随着科学技术的发展,目前