Research On BDS/SINS Integrated Navigation System Based On H₂/H_? Hybrid Filtering Algorithm

With the rapid development of modern navigation technology,the types of navigation systems are becoming more and more diversified.Beidou Satellite Navigation System(BDS)is a global navigation system independently developed by our country.Its navigation service has the characteristics of high precision and so on.More and more applications will be carried out around it,but its navigation accuracy is easily affected by the surrounding environmental factors.Strapdown Inertial Navigation System(SINS)has the advantages of strong self-reliance,complete information and strong concealment,so the combination of SINS and BDS can make up for the shortcomings of a single navigation system,eliminate the disadvantages and retain the good ones,and obtain more accurate and reliable positioning results.Compared with the single navigation system,the integrated navigation system has more excellent performance in dealing with the rigorous environment,high dynamic maneuverability and other engineering problems.In order to improve the navigation accuracy of the system,this paper mainly studies the method of BDS/SINS tightly integrated navigation system,and uses H2/H? hybrid filtering algorithm to achieve data fusion,so as to reduce navigation errors.This paper mainly studies the BDS/SINS tightly integrated navigation system method,and using H2/H? hybrid filtering algorithm to achieve data fusion,so as to reduce the navigation error and improve the navigation accuracy of the system.Firstly,the theories related to Beidou satellite navigation system,inertial navigation system and combined navigation filtering algorithm are introduced,and the BDS/SINS tight integrated navigation system is mathematically modeled.Next,a set of nonlinear function model equations is selected to simulate with KF,EKF,PF,H? and H2/H? filtering algorithm,and the advantages of the H2/H?hybrid filtering algorithm are analyzed.The H? and H2/H? filtering algorithms are applied to the train error model and simulated by MATLAB operating platform.Then the effectiveness of H2/H? hybrid filtering algorithm in information fusion filtering is verified.The specific research methods and innovations are as follows:1.Aiming at the data fusion problem of BDS/SINS compact integrated navigation system,using H2/H? infinity hybrid filtering algorithm to process it.The performance index of H2 is added to the filter designed in H? to minimize the H2 norm of the estimation error under the condition that the estimation error meets the given disturbance suppression.LMI(linear matrix inequality)method is used to design the filter,and LMI toolbox in MATLAB is used to make the solution of LMI more convenient and overcome the shortcomings of other methods.2.According to the error parameters of BDS/SINS,the mathematical model of navigation system for inertial devices such as speed error,position error,gyroscope and accelerometer was built.The combined navigation system simulator was designed.H? and H2/H? filtering algorithms were applied in the BDS/SINS combined navigation system.The effectiveness and reliability of the H2/H? hybrid filtering algorithm were verified through the comparative analysis of the train error model by MATLAB simulation.