Adaptive Compensation Robust H_∞ Filter Applied to Integrated Navigation
Feng Yang · Fire Control and Command Control · 2010
An adaptive compensation recursive robust filtering algorithm is given in this paper, aiming at the problem that the convergence condition of traditional recursive robust H∞ filtering is hard to meet in engineering applications. Based on analysis of convergence condition, the recursive matrix is modified with adaptive compensation. Moreover, to validate the accuracy of the algorithm, the evaluation criteria,including response time, deviation degree and fluctuation degree, are presented. The simulation results in GPS/INS integrated navigation system show that the decreasing rate, unbiasedness and steadiness of the developed algorithm is better than the algorithm unmodified,without more computational burdens. That indicates this modified algorithm can solve the accuracy decreasing problem resulting from the convergence condition unsatisfying and broaden the application of recursive robust filtering and has great value in engineering application.