Initial Alignment on Moving Base for GPS/INS Integration with the Effect of Time Asynchronous

摘要：

　　To improve the accuracy of the navigation system,the effect of GPS measurement delay on initial alignment of GPS/INS is analyzed and the GPS/INS integrated navigation error models are presented in this paper.The H∞ filter is adopted in designing the in-motion aligrment scheme realized by velocity matching,where the disturbances in measurements are not fully known.Toimprove the alignment accuracy on moving base with the GPS measure delay,a H∞ filter approach based on minimax criterion is presented.To validate the proposed robust algorithm,the simulation under the two typical vehicle maneuver trajectories is carried out.The simulation results demonstrate that the proposed H∞ filter approach can achieve the initial alignment more quickly and more accurately comparing with the conventional Kalman filter approach.

关键词： GPS/INS integration Initial alignment Robust filter Time asynchronous

作者: You Long Wu Xiao Ming Wang Peng Cao

作者单位: Key Laboratory of Fundamental Science for National Defense,School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,210094,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1805-1809

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）