Study of RobustH∞Filtering Application in Loosely Coupled INS/GPS System

Abstract

Since a celebrate linear minimum mean square (MMS) Kalman filter in integration GPS/INS system cannot guarantee the robustness performance, aH∞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 theoryH∞filter is first reviewed; next we utilize linear matrix inequalities (LMI) approach to design the robustH∞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 betweenH∞filter and Kalman filter. A loosely coupled INS/GPS simulation system is given here to verify this application. Result shows that the robustH∞filter has a better performance when system suffers uncertainty; also it is more robust compared to the conventional Kalman filter.