Distributed H∞ fusion filter design for INS/WSN integrated positioning system

被引：3

作者：

Li, Qinghua ^{[1
,2
]}

Chen, Xiyuan ^{[1
,3
]}

Xu, Yuan ^{[1
,3
]}

机构：

[1] School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

[2] School of Electrical Engineering and Automation, Shandong Polytechnic University, Jinan 250353, China

[3] Key Lab. of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China

来源：

Journal of Southeast University (English Edition) | 2012年 / 28卷 / 02期

关键词：

Sensor nodes - Information fusion - Kalman filters - Air navigation - Bandpass filters;

D O I：

10.3969/j.issn.1003-7985.2012.02.006

中图分类号：

学科分类号：

摘要：

In order to keep stable navigation accuracy when the blind node (BN) moves between two adjacent clusters, a distributed fusion method for the integration of the inertial navigation system (INS) and the wireless sensor network (WSN) based on H∞ filtering is proposed. Since the process and measurement noise in the integration system are bounded and their statistical characteristics are unknown, the H∞ filter is used to fuse the information measured from local estimators in the proposed method. Meanwhile, the filter can yield the optimal state estimate according to certain information fusion criteria. Simulation results show that compared with the federal Kalman solution, the proposed method can reduce the mean error of position by about 45% and the mean error of velocity by about 85%. Single ©, including postage.

引用

页码：164 / 168