DocumentCode :
3053824
Title :
Mixed H/sub 2//H/sub /spl infin// filtering approach for GPS/INS navigation systems
Author :
Jwo, Dah-Jing ; Chen, Rong-Jyh
Author_Institution :
Dept. of Commun. & Guidance Eng., Nat. Taiwan Ocean Univ., xx, Taiwan
fYear :
2003
fDate :
20-22 Nov. 2003
Firstpage :
409
Lastpage :
414
Abstract :
The GPS/INS navigation system designs using mixed H/sub 2//H/sub /spl infin// filtering approach is conducted and the resulting performance is assessed. The H/sub /spl infin// filtering problem is shown to have many solutions for each proper value of the prescribed design parameter /spl gamma/, which is different from the H/sub 2/ filter with only one solution. In the design criterion, it is also seen that the H/sub /spl infin// filter has smaller estimation errors with smaller /spl gamma/ value. On the other hand, the H/sub /spl infin// filter becomes more sensitive to the measurement noise when /spl gamma/ is smaller. The limitations on both filters motivated the introduction of the mixed H/sub 2//H/sub /spl infin// filtering problem, in which both noise characteristics are considered simultaneously. The integrated GPS/INS navigation system design poses a good area of applications for the mixed H/sub 2//H/sub /spl infin// filter, which combines the best of both worlds and performs better than either a pure H/sub 2/ filter or a pure H/sub /spl infin// filter. The hybrid approach not only takes advantage of the noise statistics knowledge that is inherent in H/sub 2/ filtering design, but also takes advantage of the robustness of H/sub /spl infin// filtering.
Keywords :
Global Positioning System; Kalman filters; filtering theory; inertial navigation; GPS-INS; Global Positioning System; Kalman filter; estimation errors; filtering robustness; inertial navigation system; measurement noise; mixed H/sub 2//H infinity filtering; Estimation error; Filtering; Filters; Gaussian noise; Global Positioning System; Hydrogen; Navigation; Noise measurement; Robustness; Statistics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Recent Advances in Space Technologies, 2003. RAST '03. International Conference on. Proceedings of
Conference_Location :
Istanbul, Turkey
Print_ISBN :
0-7803-8142-4
Type :
conf
DOI :
10.1109/RAST.2003.1303951
Filename :
1303951
Link To Document :
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