Abstract:

INS/BD constitutes an integrated navigation system with high precision and complementary advantages, but the usual Kalman filtering can not obtain a satisfying precision. So the robust H∞ filtering is used for the INS/BD integrated navigation system, overcoming the precision impact caused by the model uncertainty, and converting the problem of filter designing into a convex optimization problem subject to LMI（Linear Matrix Inequality) constraints. Simulation experiments show this algorithm can be used for integrated navigation system effectively.

Key words: robust H∞ filtering, inertial navigation system(INS)/BD integrated navigation, linear matrix inequality(LMI), convex optimization