Application of H _∞ filtering in the initial alignment of strapdown inertial navigation system

Abstract

In this paper, the principle of H _∞ filtering is discussed and H _∞ filter is constructed, which is used in the initial alignment of the strapdown inertial navigation systems (SINS). The error model of SINS is derived. By utilizing constructed H _∞ filter, the filtering calculation to that system has been conducted. The simulation results of the misalignment angle are given under the condition of unknown noises. The results show that the process of alignment with H _∞ filter is much faster and with excellent robustness.

Keywords

H _∞ filtering / initial alignment / inertial navigation

References

[1] Hassibi B, Sayed A H, Kailath T. Linear estimation in Krein spaces-part I: Theory [J]. IEEE Transactions on Automatic Control, 1996, 41(1): 18-33

[2] Hassibi B, Sayed A H, Kailath T. Linear estimation in Krein spaces-part II: Applications [J]. IEEE Transactions on Automatic Control, 1996, 41(1): 34-49

[3] Gyu Lee Jang, Gook Park Chan, Won Park Heung. Multiposition alignment of strapdown inertial navigation system [J]. IEEE Transactions on Aerospace and Electronic Systems, 1993, 29(4): 1323-1328

[4] Meskin D G, Bar-Itzhack I Y. Observability analysis of piece-wise constant systems, Part: Theory [J]. IEEE Transactions on Aerospace and Electronic Systems, 1992, 28(4): 1056-1067