舰船导航系统发展水平直接关系到全舰作战效能，而高度阻尼是其中的一个重要问题。为解决纯惯导高度通道发散问题，设计了INS/GPS三阶组合高度阻尼网络，并结合滤波算法对影响测高精度的各主要误差源进行阻尼。基于欧拉平台误差角概念，建立了适用于任意失准角误差条件下的非线性误差模型。结合H∞理论和UT变换，推导出一种具有较强鲁棒性的基于UT变换H∞滤波算法。最后，通过数学仿真验证了舰船导航系统高度阻尼效果。仿真结果表明，基于UT变换H∞滤波的舰船导航系统高度阻尼方法能够有效地抑制高度通道发散，高度阻尼精度与外观测信息精度相当。%The altitude damping is an important problem in ship navigation system which directly affects the combat efficiency of warships. In order to solve the problem of vertical channel divergence in pure inertial navigation system, an INS/GPS third-order vertical channel damping loop was designed. Meanwhile, a filtering algorithm was adopted to damp the main error source to prevent it from causing altitude error. Based on the concept of Euler platform error angles, a nonlinear SINS error model with arbitrary initial misalignment angles was proposed. By combining H-infinite theory with the unscented transformation, a robust UKF algorithm was also deduced. Finally, an altitude damping simulation test was conducted. The results show that the altitude damping approach in integrated ship navigation system based on the robust UKF filtering can efficiently damp the altitude calculation,and the altitude damping accuracy is roughly equivalent to the accuracy of external measurement information.
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