卡尔曼滤波与H∞滤波在INS／GPS组合导航中的应用

组合导航利用惯性导航（INS）和全球定位系统（GPS）较强的非相似性和互补性，将两者组合，可以取长补短，充分发挥各自的优点，提高导航系统性能。利用卡尔曼滤波能够有效提高其精度，但卡尔曼滤波的应用要求函数模型和随机模型已知，符合实际，这在实际应用中是很难保证的，一般都是通过经验信息确定。H滤波则具有很强的鲁棒性，抗干扰性强。通过仿真数据处理，结果表明：H滤波比卡尔曼滤波在噪声特性未知时更适用，精度更高。

Application of Kalman Filtering and H Filtering for INS/GPS Integration

Integrated navigation get INS and GPS together by their strong non-similarity and complementarity,can give their respective advantages and improve the navigation system performance.Kalman filter can improve the navigation system accuracy,but the application of Kalman filter model and the stochastic model is known previously,agree with reality,which in practice is difficult to guarantee,generally get it by empirical information.H filter have a strong robustness,and is immunity to interference.By the simulati...