Robust H∞ Filtering with Error Variance Constraints on GPS/INS Integrated Navigation Systems
The robust H∞ filtering problem of GPS/INS integrated navigation system with steady-state error variance constrains is considered in this paper. The aim is to design a filter which ensures both the robustly asymptotic stability for error dynamic system and the prescribed level of the H∞ performance. The sufficient condition for the existence of the filter is derived. An LMI method for designing H∞ filter is given by matrix transformations, this makes it convenient to obtain the expression of the filter. The proposed method is used to GPS/INS integrated navigation system and the limit of error matrix P is gotten by configurating error variance matrixQ for the first time. The state curves of error dynamic system are given and the simulation results are provided to demonstrate the validity and feasibility of the proposed approach.
GPS/INS integrated navigation system variance constraints H∞ filtering LMI
Ping Sun Yuanwei Jing Shujiang Li Minxiu Yan
School of Information Science and Engineering, Shenyang University of Technology, Shenyang Liaoning School of Information Science and Engineering, Northeastern University, Shenyang Liaoning Province 1 College of Information Engineering, Shengyang Institute of Chemical Technology, Shengyang, P.R. Chin
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
3832-3836
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）