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Sensors 2016, 16(3), 396; doi:10.3390/s16030396

A Novel Robust H Filter Based on Krein Space Theory in the SINS/CNS Attitude Reference System

1,†
,
1,†,* and 2
1
College of Automation, Harbin Engineering University, Harbin 150001, China
2
College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Academic Editor: Assefa M. Melesse
Received: 8 December 2015 / Revised: 27 February 2016 / Accepted: 15 March 2016 / Published: 18 March 2016
(This article belongs to the Section Remote Sensors)
View Full-Text   |   Download PDF [3590 KB, uploaded 18 March 2016]   |  

Abstract

Owing to their numerous merits, such as compact, autonomous and independence, the strapdown inertial navigation system (SINS) and celestial navigation system (CNS) can be used in marine applications. What is more, due to the complementary navigation information obtained from two different kinds of sensors, the accuracy of the SINS/CNS integrated navigation system can be enhanced availably. Thus, the SINS/CNS system is widely used in the marine navigation field. However, the CNS is easily interfered with by the surroundings, which will lead to the output being discontinuous. Thus, the uncertainty problem caused by the lost measurement will reduce the system accuracy. In this paper, a robust H filter based on the Krein space theory is proposed. The Krein space theory is introduced firstly, and then, the linear state and observation models of the SINS/CNS integrated navigation system are established reasonably. By taking the uncertainty problem into account, in this paper, a new robust H filter is proposed to improve the robustness of the integrated system. At last, this new robust filter based on the Krein space theory is estimated by numerical simulations and actual experiments. Additionally, the simulation and experiment results and analysis show that the attitude errors can be reduced by utilizing the proposed robust filter effectively when the measurements are missing discontinuous. Compared to the traditional Kalman filter (KF) method, the accuracy of the SINS/CNS integrated system is improved, verifying the robustness and the availability of the proposed robust H filter. View Full-Text
Keywords: uncertainty problem; SINS/CNS integrated system; missing measurements; Krein space theory; robust H filter uncertainty problem; SINS/CNS integrated system; missing measurements; Krein space theory; robust H filter
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Yu, F.; Lv, C.; Dong, Q. A Novel Robust H Filter Based on Krein Space Theory in the SINS/CNS Attitude Reference System. Sensors 2016, 16, 396.

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