Fuzzy closed-loop H-infinity filter for SINS/OD integration in land vehicles

摘要：

In SINS/OD land vehicle system, H-infinity filter (HF) has better robustness than Kalman filter (KF) in the actual environmental uncertain interferences, but its low precision confines the application field. Closed-loop feedback system (CFS) and fuzzy inference system (FIS) are introduced into the traditional HF, a new fuzzy closed-loop H-infinity filtering algorithm is proposed in this paper. The fuzzy closedloop H-infinity filter corrects system internal state through CFS, and it adjusts filtering gain matrix adaptively through FIS to further inhibit the uncertain interferences, thereby,improves the navigational precision and reliability. Finally, the vehicle experiment results illustrated that the filter proposed in this paper had higher precision and robustness than KF and HF.

关键词： Uncertain Interference Kalman Filter H-infinity Filter Closed-loop Feedback System Fuzzy Inference System

作者: Zhou Benchuan Cheng Xianghong

作者单位: Southeast University, Nanjing, Jiangsu, 210096, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1442-1445

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）