Comparison of robust H-infinity filter and Kalman filter for initial alignment of inertial navigation system

被引：9
|
作者：
Hao Yan-ling [1 ]
Chen Ming-hui [1 ]
Li Liang-jun [1 ]
Xu Bo [1 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2008年 / 7卷 / 02期
关键词：
H-infinity filter; Kalman filter; initial alignment; integrated navigation system; SINS;
D O I：
10.1007/s11804-008-7041-9
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS). One method is based on the Kalman filter (KF), and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.
引用
收藏
页码：116 / 121
页数：6
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