Research On Robust H_? Filtering Method For Integrated Navigation System Of Mobile Robot

Integrated navigation technology is an important technology,which can ensure the robot to complete accurate navigation in the mobile robot system.In the existing research,many methods are used to improve the accuracy of GPS/INS Integrated Navigation of mobile robot.However,these studies ignore the uncertainty of noise interference when the robot navigation system works in complex areas.At the same time,it also ignores the fact that the GPS accuracy of mobile robot is easily interfered by many factors,which leads to the delay of data transmission.Aiming at the above problems,this dissertation studies the robust H? filtering problem of the integrated navigation method based on the Summit-XL robotAccording to the velocity error,position error,angle error and the error characteristics of gyroscope and accelerometer,the error model of INS/GPS tightly integrated navigation system is determined by combining the factors of satellite clock difference and number of satellites which affect the GPS navigation accuracy.The Summit-XL machine is built by using pseudo range and pseudo range rate.Based on the INS/GPS tightly integrated error model of Summit-XL robot,a robust H?filtering method is proposed to estimate the state of the continuous navigation system of Summit-XL robot.The stability of the system is verified by Lyapunov method,and the performance index reaches the minimum.The simulation results show that the robust H?filtering technology can effectively reduce the noise interference of the robot integrated navigation system.In addition,in order to solve the problem of time delay caused by weather and other factors of Summit-XL robot GPS navigation system,the discrete navigation system model and navigation delay characteristics are considered.The Lyapunov function is constructed,and the robust H? filter of the discrete navigation system is designed.The stability of the filter system is verified,and the LMI solution of the filter parameter matrix is obtained.The simulation results show that the proposed robust H? filtering method improves the navigation accuracy of Summit-XL robot.