Airborne distributed POS transfer alignment method based on H infinity and CKF hybrid filtering

Abstract

The invention relates to an airborne distributed POS transfer alignment method based on H infinity and CKF (Capacity Kalman Filtering) hybrid filtering. The method comprises the following steps: first, incorporating a deflection deformation error into measurement noise, determining a speed match measurement equation and an attitude match measurement equation, and primarily establishing a transfer alignment model of a system; designing nonlinear filtering, namely a CKF algorithm with high precision based on Kalman filtering; finally, achieving the purposes of weakening and eliminating the deflection deformation and a dynamic lever arm by utilizing good robust adaptive ability of H infinity filtering, designing an H infinity filtering algorithm, combining an H infinity filtering module and the CKF filtering, and designing a new H infinity and CKF hybrid filtering algorithm so as to estimate more accurate position, speed and attitude information of a slave inertial navigation system to complete transfer alignment. According to the airborne distributed POS transfer alignment method based on the H infinity and CKF hybrid filtering, the problem that the position, speed and attitude information of the slave inertial navigation system cannot be estimated accurately under the situation that the deflection deformation is difficult to model is solved, so that the airborne distributed POS transfer alignment method based on the H infinity and CKF hybrid filtering has the characteristics of high precision and strong anti-interference capacity.

Description

technical field [0001] The invention relates to an airborne distributed POS (Distributed Position and Orientation System, distributed position and attitude measurement system) transfer alignment method based on H∞ and CKF hybrid filtering, which can be applied to the neutrons of airborne or shipborne distributed POS systems The IMU's position, velocity, and attitude solutions are especially suitable for situations where the body has deflection and deformation and is difficult to model. Background technique [0002] High-precision POS consists of an inertial measurement unit (Inertial measurement Unit, IMU), a navigation computer system (POS Computer System, PCS) and GPS. High-precision POS can provide high-frequency, high-precision time, space, and precision information for high-resolution aerial remote sensing systems. Improving imaging accuracy and efficiency through motion error compensation is the key to high-resolution imaging. However, due to the demand for earth obse...

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Problems solved by technology

[0005] The technical problem of the present invention is: to overcome the deficiencies of the prior art, and propose an airborne distributed POS transfer alignment method based on H∞ and CKF hybrid filtering, which solves the problem

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