Study of robust H(infinity) filtering application in loosely coupled INS/GPS system

Zhao, Lin, Qiu, Haiyang, & Feng, Yanming (2014) Study of robust H(infinity) filtering application in loosely coupled INS/GPS system. Mathematical Problems in Engineering: Theory, Methods and Applications, 2014(904062).

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Since a celebrate linear minimum mean square (MMS) Kalman filter in integration GPS/INS system cannot guarantee the robustness performance, a H(infinity) filtering with respect to polytopic uncertainty is designed. The purpose of this paper is to give an illustration of this application and a contrast with traditional Kalman filter. A game theory H(infinity) filter is first reviewed; next we utilize linear matrix inequalities (LMI) approach to design the robust H(infinity) filter. For the special INS/GPS model, unstable model case is considered. We give an explanation for Kalman filter divergence under uncertain dynamic system and simultaneously investigate the relationship between H(infinity) filter and Kalman filter. A loosely coupled INS/GPS simulation system is given here to verify this application. Result shows that the robust H(infinity) filter has a better performance when system suffers uncertainty; also it is more robust compared to the conventional Kalman filter.

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4 citations in Scopus
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ID Code: 88779
Item Type: Journal Article
Refereed: Yes
DOI: 10.1155/2014/904062
ISSN: 1024-123X
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 Lin Zhao et al.
Copyright Statement: This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Deposited On: 29 Oct 2015 03:51
Last Modified: 29 Oct 2015 03:52

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