H∞滤波及其在惯导初始对准中的应用

阐述了H∞滤波器的设计过程，并将其运用于惯导系统的初始对准，建立了惯导系统的误差模型，并对其进行了可观性分析，利用H∞滤波方法对可观可测子系统进行了滤波计算，给出了白噪声下失准角的仿真曲线。仿真表明对准时间得到了很大的提高，精度也能够满足工程实际需要。中给出了方位误差角的一种快速估计方法，结果表明该方法是可行的。

H∞ Filtering and Its Application in INS Inertial Alignment

The approach of H filtering is presented, which is applied to the alignment of inertial navigation systems(INS).The error model of INS is derived, and the observability of which is analyzed.H filtering is designed to an observable and controllable subsystem. The simulation results of the misalignment angle are given under the condition of white noise. The result shows that the aligning progress is shorten greatly, and the accuracy can be ensured in the engineering. A fast estimation method of the azimuth error angle is proposed for the initial alignment of INS, and the result illustrates the efficiency of the method.