PMI-Based Nonlinear H∞ Estimation of Unknown Sensor Error for INS/GPS Integrated System

被引：10

作者：

Zhong, Maiying ^{[1
]}

Guo, Dingfei ^{[1
]}

Guo, Jia ^{[1
]}

机构：

[1] Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China

来源：

IEEE SENSORS JOURNAL | 2015年 / 15卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Sensor error estimation; INS/GPS integrated system; PMI; nonlinear H-infinity estimator; DESCRIPTOR SYSTEMS; KALMAN FILTER; NAVIGATION; DESIGN;

D O I：

10.1109/JSEN.2014.2379719

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper deals with the problem of robust estimation for time-varying sensor errors of inertial navigation system (INS) and global positioning system integration. A nonlinear strapdown INS error model is established to describe the behavior of the the integrated system. Under assumptions of time-varying bias and noise being L-2 norm bounded, a robust H-infinity nonlinear estimator by Krein space theory is proposed and, based on this, a proportional and multi-integral H-infinity estimator is developed for simultaneous estimation of the navigation states and sensor errors. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.

引用

页码：2785 / 2794

页数：10

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