A Robust and fault-tolerant filter and its application in MEMS-INS/GPS

txfonts In micro-electro-mechanical system based inertial navigation system (MEMS-INS)/global positioning system(GPS) integrated navigation systems, there exist unknown disturbances. This paper deals with the problem of adaptive robust estimation (ARE) to obtain high estimation accuracy. A filter gain matrix is designed to obtain the adaptive robust algorithm, in which the H-infinity norm of the transfer function from noise inputs to estimation error outputs is limited within a certain range, and further more the estimation error is minimized by calculating the adaptive weight matrix. Therefore, the algorithm can guarantee small estimation errors in the presence of disturbances. The proposed method is evaluated in the integrated navigation system, and the simulation results show that it is effective in position and velocity estimation.