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.

关键词： SINS H∞ filter Fuzzy adaptive filter Self-alignment Moored

作者: Yong Jun Wang Jing Shuo Xu Rui Hua Song Yang Gao Ya Zhou Di

作者单位: Qingdao Branch,Naval Aeronautical and Astronautical University,Qingdao,Shandong,266041,China Naval Aeronautical and Astronautical University,Yantai,Shandong,264001,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1793-1799

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）