Application of fast federated H_∞ filtering in SINS/GPS integrated navigation system

Because the effect of federal Kalman filtering in SINS/GPS integrated navigation depends on the system model and the statistical properties of noises, and the computing is complex, a new federal H_∞ filtering is brought forward. The new formula of federal H_∞ filtering is defined, the adaptive assignment principle of fusion information is advanced and the algorithm is simplified. It is no need to know the statistical properties of noises in H_∞ filtering, so the new algorithm has strong robustness and improves the fault-tolerance capability of the system. The simulation result shows that the proposed method is better in stability and real-time characters.