Reseach On The Filtering Method Of High-Performance Missile-borne Based On INS/GPS Integrated Navigation

At present, INS/GPS navigation system is primarily used in integratednavigation system. Because that system overcomes the drawbacks whenwe use GPS system or INS alone, provides better navigation system, ithas better navigation performances. And now it has become the mainresearch in navigation field. The new data fusion especially the Kalmanfilter has become the key in the application of integrated navigation. Butthe Kalman filter has some problems when we use in the unknownenvironment. So we present H∞filter and UKF.This paper does some work mainly about the improvement of filteringmethod based on INS/GPS integrated navigation system. The primarywork of this paper includes:1. Detailed describe the development of integrated navigation system,the advantages and disadvantages of INS and GPS. And illustrate thesuperiority of integrated system.2. Present the error model of INS/GPS，establish the measurementequation and state equation. Describe the model’s observability methodand stability method. What’s more, present an improved observabilitymethod. 3. Introduce H∞filter because the kalman filter is sensitive to thenavigation system’s parameters and uncertainty. Then considering fromthe fact of calculated amount, this paper presents sequential filter andcombine it with UKF. The simulation shows that under the circumstanceof no-white noise, EKF diverges while the H∞filter has better robust.And the Sequential UKF has higher observability. The simulationdemonstrates the efficiency of the new filtering.4. From the model of missile-borne INS/GPS, separately use EKF,UKF and sequential UKF to do the simulation and compare thesealgorisms. The result of the simulation shows the high performance ofsequential UKF.