Robust H-infinity Filtering On Vehicle Integrated Navigation System

Vehicle navigation system can provide navigation and positioning and other information for driving vehicle. It can better solve the problem that people drives at outside for road of intricacies. And it can save time of driving and reduce the economic cost of vehicle consumption. With vehicle is increase in the road, vehicle navigation is widely attention. Because of external disturbance, GPS signals is lost, this will lead to unable locate. So single GPS navigation system cannot satisfy requirement that people hope the navigation is continuous. Use INS navigation system is not suffer external interference, GPS/INS integrated navigation can solve the problem. But INS navigation could be product more error in long time. So integrated navigation can better offset weakness, exert advantages. Integrated navigation has real time and high precision.For GPS/INS integrated navigation system normal use kalman filtering method. Although the methods have high precision, but while system model and noise model are uncertain, filtering is divergent. It makes filter inaccurate. In view of this, this paper considers to solve robust filter problem with robust filter method. It augments robustness for model uncertain.First, this paper introduce development situation of vehicle navigation system, navigation method and characteristic of GPS/INS navigation system. Next, paper analyses model of GPS/INS navigation system. Second, for GPS/INS navigation system, design robust H∞filter, robust H∞filter with error variance constraints and non-fragile H∞filter. For above three kinds of filter, the paper gives condition of system asymptotic stability and analyses H∞performance index, using the linear matrix inequality solving. And the linear matrix inequality solved by computer, obtain expression of filter. Final, give simulation example, verify the effectiveness of design filter in this paper.