Study of Robust Filtering Application in Loosely Coupled INS/GPS System

Lin Zhao, Haiyang Qiu and Yanming Feng

Mathematical Problems in Engineering, 2014, vol. 2014, 1-10

Abstract:

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

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:904062

DOI: 10.1155/2014/904062

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