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Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system
There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS). One method is based on the Kalman filter (KF), and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research. 相似文献
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研究了导航信号的卡尔曼滤波定位解算方法,该方法能够实现用小全的测量值完成导航解的估值解算,同时还可以对导航解进行平滑,减小噪声对导航解的影响。仿真结果证明了该方法在导航定位解算中的有效性和可行性。 相似文献
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磁定向偏差自动修正的理论与实现技术 总被引:1,自引:0,他引:1
本文利用球谐函数解法结合地球磁场及我国海区的实际,给出了磁定向偏差的自动修正理论与实现技术,计算结果与国家测绘部门所提供的海图等资料符合甚好,可供水下定向之用。 相似文献
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组合导航系统的电子海图显示技术 总被引:3,自引:0,他引:3
本文在概括地介绍了配有电子海图的组合导航系统之后,详细地介绍了电子海图显示技术。其中包括硬件和软件的组成,例如显示控制电路,海图数字化,数据存储方式,航迹显示,自动换图等,都是作者从事组合导航和电子海图显示技术工作成果的反映。 相似文献
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介绍了几种有效的基于约束的关联规则挖掘技术,每种技术的提出针对不同的应用需求,试验证实了这些技术的有效性,此方面的各项研究都将为开发实用、有效的数据挖掘系统奠定基础。 相似文献
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舰船方位序列是一种带有灰色信息的时间序列,灰色系统理论是处理灰色信息的有力武器.文章在分析和阐述灰色系统理论的基础上,将其应用到舰船目标纯方位定位和要素解算领域,解决了传统的困扰解算目标运动要素的一些难点;提出了一些新的概念和方法,如目标方位序列集的概念和采用以某一方位为间隔的各方位区间的方位值数量作为灰色聚类中的灰聚类因子的方法,既可以有效区分不同方位序列集的分类,还能据此反演得到目标速度、航向以及位置信息的大概范围. 相似文献
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There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS). One method is based on the Kalman filter (KF), and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research. 相似文献