Fuzzy Closed-loop H-infinity Filter for SINS/OD Integration in Land Vehicles

In SINS/OD land vehicle system, H-infinity filter (HF) has better robustness than Kalman filter (KF) in the actual environmental uncertain interferences, but its low precision confines the application field. Closed-loop feedback system (CFS) and fuzzy inference system (FIS) are introduced into the traditional HF, a new fuzzy closed-loop H-infinity filtering algorithm is proposed in this paper. The fuzzy closed-loop H-infinity filter corrects system internal state through CFS, and it adjusts filtering gain matrix adaptively through FIS to further inhibit the uncertain interferences, thereby, improves the navigational precision and reliability. Finally, the vehicle experiment results illustrated that the filter proposed in this paper had higher precision and robustness than KF and HF.