Initial alignment on moving base for integrated navigation system based on robust filter approach

The method of rotating the IMU to improve the performance of system accuracy and design the SINS/GPS integrated systems are presented. The error of the rotation unit and the time asynchronous for the sake of GPS measure delay are analyzed. A H^∞ filter approach based on the minimax criterion is proposed to deal with the alignment of SINS on moving base. Comparing the performance of Kalman filter and H^∞ filter through digital simulation, this method shows that is makes initial alignment more quickly and prssesses such characters as high accurate and robustness.