Abstract:

In this paper, based on the theory of the H ∞ robust filter, a complete integrated GPS/INS system is presented using the H ∞ filter. The state variable includes the position error, velocity error and attitude error and the measurement is composed of the position, velocity and carrier phase. In order to improve the robust ness of the complete integrated navigation system, the H ∞ robust filter is adopted. The dynamic simulation is carried out and the result shows that the simplified system can work with better precision and excellent robustness. The scheme in the paper can be put into practice easily.

Key words: integrated navigation system;GPS;strap-down INS;H &infin, robust filter;carrier phase