Sigma Point H-infinity Filter for Initial Alignment in Marine StraDdown Inertial Navieation System

摘要：

Based on theories of H-infinity filter and sigma point transformation, a sigma point H-infinity filter method is proposed. The error model of marine strapdown inertial navigation system on the swaying base is nonlinear, whereas the azimutb angle is large. Because during the deduct of the error model higher order terms are neglected, and the practical noises are non-Gaussian, the sigma point Hinfinity filter is more robustness and also improves the accuracy, compared with the unscented Kalman filter. In order to obtain a better result, a sigma point smoother is proposed. The simulation results show that the sigma point Hinfinity filter is a very effective estimation method with colored noise.

关键词： sigma point transformation H-infinity fitter unscented Kalman filter initial alignment sigma point smoother

作者: Jun-hou Wang Chun-Iei Song Xing-tai Yao Jia-bin Chen

作者单位: School of Automation Beijing Institute of Technology Beijing, China

会议类型: 国际会议

会议名称: 2010 2nd International Conference on Signal Processing System(2010年信号处理系统国际会议 ICSPS 2010)

会议地点: 大连

会议语种:英文

页码: 580-584

在线出版日期: 2010-07-05（万方平台首次上网日期，不代表论文的发表时间）