An Improved Robust H_∞ Multiple Fading Fault-tolerant Filtering Algorithm for INS/GPS Integrated Navigation
Jianping Yuan · Journal of Astronautics · 2009
On the basis of in-depth study for H∞ filtering in INS/GPS integrated navigation,an improved H∞ multiple fading fault-tolerant filtering algorithm is proposed.First,an H∞ filtering algorithm is demonstrated,and then the fault-tolerant filtering method is improved effectively.The multiple fading filtering algorithm based on symmetrical proportion-weight of matrix and the algorithm based on the normalized residuals method are presented to avoid effectively invalidation detecting and correcting for residuals.A fault-tolerant strategy of double fault diagnosis is proposed and the improved robust H∞ tolerant filter is designed ultimately.The simulation results indicate that the proposed algorithm has better robustness and accuracy to model uncertainties and statistics characteristics of disturbance variations than common Kalman filter.The improved filtering algorithm has a great detecting capability and combining performance,and it is fit for requirements of engineering.