H-infinite suboptimal filter-based angular velocity matched transfer alignment method

Abstract

The invention relates to an H-infinite suboptimal filter-based angular velocity matched transfer alignment method. Through establishment and analysis of angular velocity matched transfer alignment system state model and range model, when disturbance terms such as wing elastic deformation are colored noise and under the condition that the statistical properties of the system dynamic model and the noise cannot be acquired completely, the traditional Kalman filtering has the defects of large calculation quantity, low real-time property, low fault tolerance and the like. The H-infinite suboptimal filtering is applied to angular velocity matched transfer alignment, and the mounting error angle and the posture misalignment angle of an elastomer can be estimated quickly, so that rapid transfer alignment of an inertial navigation system is realized. The subsequent work adopts a parameter estimation method, the Kalman filtering is subjected to certain improvement by combining a fuzzy adaptive filtering theory, and the angular velocity matched transfer alignment method is optimized and improved. The problem and the defect that the conventional Kalman filtering has low inhibition performance on a random signal, and even the conventional Kalman filtering is diffused are overcome.

Description

technical field [0001] The invention relates to an alignment method for flying in the air, specifically based on H ∞ Suboptimal filtered angular velocity matching transfer alignment method. Background technique [0002] The transfer alignment of the inertial navigation system is realized by the initialization of the low-precision sub-inertial navigation parameters through the transfer of the high-precision main inertial navigation parameters, that is, the transfer alignment. Since the initial value of sub-inertial navigation system binding determines the navigation accuracy of the later inertial navigation system, transfer alignment is the key technology of inertial navigation system transfer alignment. Theoretically, both the gyro of the main inertial navigation and the sub-inertial navigation can sense the angular velocity of the body relative to the inertial space, and the gyro output value of the main inertial navigation should be the same as that of the sub-inertial na...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the present invention provides a ∞ The angular velocity matching transfer alignment method of suboptimal filtering has good robustness, and can obtain better estimation accuracy than traditional Kalman filtering when the system noise and measurement noise are unknown or incompletely known

Images