A Novel Adaptive H∞ Filtering Method with Delay Compensation for the Transfer Alignment of Strapdown Inertial...

Area of Science:

• Navigation Systems
• Control Theory
• Signal Processing

Background:

• Transfer alignment is crucial for strapdown inertial navigation systems (SINS), demanding high rapidity and accuracy.
• Time delays in transfer alignment processes can degrade the performance of SINS.
• Existing H∞ filtering methods may not adequately address time delays in dynamic environments.

Purpose of the Study:

• To develop and analyze an H∞ filtering method with delay compensation for SINS transfer alignment.
• To propose an adaptive H∞ filtering approach that adjusts robustness factors based on environmental dynamics.
• To enhance the accuracy and robustness of transfer alignment in SINS with inherent time delays.

Main Methods:

• Establishment of a transfer alignment model incorporating SINS error and measurement models.
• Analysis of time delay effects within the transfer alignment process.
• Development and detailed analysis of an H∞ filtering method with delay compensation.
• Introduction of an adaptive H∞ filter that dynamically adjusts the robustness factor.

Main Results:

• The proposed adaptive H∞ filtering method with delay compensation effectively mitigates the impact of time delays.
• Vehicle transfer alignment experiments demonstrated significant improvements in both transfer alignment and pure inertial navigation accuracy.
• The adaptive adjustment of the robustness factor proved critical for enhancing filtering performance in dynamic conditions.

Conclusions:

• The adaptive H∞ filtering method with delay compensation offers a superior solution for improving SINS transfer alignment accuracy.
• The adaptive approach enhances system robustness by dynamically responding to environmental changes.
• This filtering technique is vital for achieving high-performance navigation in the presence of time delays.