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

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.

作 者： HAO Yan-ling CHEN Ming-hui LI Liang-jun XU Bo   作者單位： College of Automation, Harbin Engineering University, Harbin 150001, China  刊 名： 船舶與海洋工程學報  英文刊名： JOURNAL OF MARINE SCIENCE AND APPLICATION  年，卷(期)： 2008 7(2)  分類號： V249.32+2  關鍵詞： H∞ filter   Kalman filter   initial alignment   integrated navigation system   SINS  

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