Multi-sensor Integrated Navigation for Intelligent Vehicles Based on H∞ Filter
Weigong Zhang · Jisuanji fangzhen · 2007
To satisfy the navigation demands such as high accuracy,high frequency and high reliability and robustness for autonomous intelligent vehicles,a new multi-sensor integrated and robust navigation technique was studied. A redundant integrated navigation method based on H∞ filter in which SINS was aided by photoelectric speedometer and CP-DGPS was proposed. The filter model of this navigation method was deduced and set up. Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with the cm-level navigation accuracy,good robustness and reliability. Even when the system features such as the noise features change largely,the integrated navigation system can still offer reliable navigation information for the intelligent vehicle control.