Comparison on Three Filter Methods in Self-alignment for SINS of the Carrier Craft

摘要

Fuzzy adaptive filter and H∞ filter are introduced to solve the problem of low filter performance,which comes from uncertain noise caused by seawave and high frequence vibrancy.First,basic principles of the fuzzy adaptive filter and H∞ filter are formulated.Second,state space model of self-alignment for SINS of the carrier craft is built.Finally,according to each character,a comparison on results that Kalman filter,fuzzy adaptive filter and H∞ filter are applied to alignment for SINS of the cartier craft is made.Simulation results show that although Kalman filter has definite robustness to external uncertainty noise,weak anti-jamming ability and bad filter performance make self-alignment failed.Fuzzy adaptive filter and H∞ filter have strong ability to suppress external uncertain noise and can obtain good filtering accuracy.They both can complete self-alignment.Filtering accuracy and rapidity of fuzzy adaptive filter are better than those of H∞filter,while robustness and curve smoothness of H∞ filter are stronger than those of other filters.