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Navigation and Self Alignment of Inertial Systems using Nonlinear H∞ Filters

Authors: Fang Jiancheng, Saman M. Siddiqui

Abstract:

Micro electromechanical sensors (MEMS) play a vital role along with global positioning devices in navigation of autonomous vehicles .These sensors are low cost ,easily available but depict colored noises and unpredictable discontinuities .Conventional filters like Kalman filters and Sigma point filters are not able to cope with nonwhite noises. This research has utilized H∞ filter in nonlinear frame work both with Kalman filter and Unscented filter for navigation and self alignment of an airborne vehicle. The system is simulated for colored noises and discontinuities and results are compared with not robust nonlinear filters. The results are found 40%-70% more robust against colored noises and discontinuities.

Keywords: MEMS, Filtering, integrated navigation, nonlinearfiltering, self alignment

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1075092

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