| Autor: |
Xiaoming Wang, Peng Cao, You Long Wu |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
Advanced Materials Research. :1805-1809 |
| ISSN: |
1662-8985 |
| DOI: |
10.4028/www.scientific.net/amr.591-593.1805 |
| Popis: |
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 alignment scheme realized by velocity matching, where the disturbances in measurements are not fully known. To improve 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. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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