Robust Integrated Navigation of a Low Cost System

Robust nonlinear integrated navigation of GPS and low cost MEMS is a hot topic of research these days. A robust filter is required to cope up with the problem of unpredictable discontinuities and colored noises associated with low cost sensors. H∞ filter is previously used in Extended Kalman filter and Unscented Kalman filter frame. Unscented Kalman filter has a problem of Cholesky matrix factorization at each step which is a very unstable operation. To avoid this problem in this research H∞ filter is designed in Square root Unscented filter framework and found 50% more robust towards increased level of colored noises.

Authors:

• Saman M. Siddiqui
• Fang Jiancheng

Keywords:

• H∞ filter
• MEMS
• GPS
• Nonlinear system
• robust system
• Square root unscented filter.

References:

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Journal of Aerospace Science & Technology, submitted for publication
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