Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system

Jun Hou Wang; Chun Lei Song; Xing Tai Yao; Jia Bin Chen

doi:10.1109/ICSPS.2010.5555563

Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system

Jun Hou Wang^*
, Chun Lei Song
, Xing Tai Yao
, Jia Bin Chen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Citations (Scopus)

Abstract

Based on theories of H-infinity filter and sigma point transformation, a sigma point H-infinity filter method is proposed. The error model of marine strapdown inertial navigation system on the swaying base is nonlinear, whereas the azimuth angle is large. Because during the deduct of the error model higher order terms are neglected, and the practical noises are non-Gaussian, the sigma point H-infinity filter is more robustness and also improves the accuracy, compared with the unscented Kalman filter. In order to obtain a better result, a sigma point smoother is proposed. The simulation results show that the sigma point H-infinity filter is a very effective estimation method with colored noise.

Original language	English
Title of host publication	ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems
Pages	V1580-V1584
DOIs	https://doi.org/10.1109/ICSPS.2010.5555563
Publication status	Published - 2010
Event	2010 2nd International Conference on Signal Processing Systems, ICSPS 2010 - Dalian, China Duration: 5 Jul 2010 → 7 Jul 2010

Publication series

Name	ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems
Volume	1

Conference

Conference	2010 2nd International Conference on Signal Processing Systems, ICSPS 2010
Country/Territory	China
City	Dalian
Period	5/07/10 → 7/07/10

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

H-infinity filter
Initial alignment
Sigma point smoother
Sigma point transformation
Unscented Kalman filter

Access to Document

10.1109/ICSPS.2010.5555563

Cite this

Wang, J. H., Song, C. L., Yao, X. T., & Chen, J. B. (2010). Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system. In ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems (pp. V1580-V1584). Article 5555563 (ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems; Vol. 1). https://doi.org/10.1109/ICSPS.2010.5555563

Wang, Jun Hou ; Song, Chun Lei ; Yao, Xing Tai et al. / Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system. ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems. 2010. pp. V1580-V1584 (ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems).

@inproceedings{2c982334eef74d9180c925974ac3c9d3,

title = "Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system",

abstract = "Based on theories of H-infinity filter and sigma point transformation, a sigma point H-infinity filter method is proposed. The error model of marine strapdown inertial navigation system on the swaying base is nonlinear, whereas the azimuth angle is large. Because during the deduct of the error model higher order terms are neglected, and the practical noises are non-Gaussian, the sigma point H-infinity filter is more robustness and also improves the accuracy, compared with the unscented Kalman filter. In order to obtain a better result, a sigma point smoother is proposed. The simulation results show that the sigma point H-infinity filter is a very effective estimation method with colored noise.",

keywords = "H-infinity filter, Initial alignment, Sigma point smoother, Sigma point transformation, Unscented Kalman filter",

author = "Wang, \{Jun Hou\} and Song, \{Chun Lei\} and Yao, \{Xing Tai\} and Chen, \{Jia Bin\}",

year = "2010",

doi = "10.1109/ICSPS.2010.5555563",

language = "English",

isbn = "9781424468911",

series = "ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems",

pages = "V1580--V1584",

booktitle = "ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems",

note = "2010 2nd International Conference on Signal Processing Systems, ICSPS 2010 ; Conference date: 05-07-2010 Through 07-07-2010",

}

Wang, JH, Song, CL, Yao, XT & Chen, JB 2010, Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system. in ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems., 5555563, ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems, vol. 1, pp. V1580-V1584, 2010 2nd International Conference on Signal Processing Systems, ICSPS 2010, Dalian, China, 5/07/10. https://doi.org/10.1109/ICSPS.2010.5555563

Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system. / Wang, Jun Hou; Song, Chun Lei; Yao, Xing Tai et al.
ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems. 2010. p. V1580-V1584 5555563 (ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system

AU - Wang, Jun Hou

AU - Song, Chun Lei

AU - Yao, Xing Tai

AU - Chen, Jia Bin

PY - 2010

Y1 - 2010

N2 - Based on theories of H-infinity filter and sigma point transformation, a sigma point H-infinity filter method is proposed. The error model of marine strapdown inertial navigation system on the swaying base is nonlinear, whereas the azimuth angle is large. Because during the deduct of the error model higher order terms are neglected, and the practical noises are non-Gaussian, the sigma point H-infinity filter is more robustness and also improves the accuracy, compared with the unscented Kalman filter. In order to obtain a better result, a sigma point smoother is proposed. The simulation results show that the sigma point H-infinity filter is a very effective estimation method with colored noise.

AB - Based on theories of H-infinity filter and sigma point transformation, a sigma point H-infinity filter method is proposed. The error model of marine strapdown inertial navigation system on the swaying base is nonlinear, whereas the azimuth angle is large. Because during the deduct of the error model higher order terms are neglected, and the practical noises are non-Gaussian, the sigma point H-infinity filter is more robustness and also improves the accuracy, compared with the unscented Kalman filter. In order to obtain a better result, a sigma point smoother is proposed. The simulation results show that the sigma point H-infinity filter is a very effective estimation method with colored noise.

KW - H-infinity filter

KW - Initial alignment

KW - Sigma point smoother

KW - Sigma point transformation

KW - Unscented Kalman filter

UR - https://www.scopus.com/pages/publications/77957288711

U2 - 10.1109/ICSPS.2010.5555563

DO - 10.1109/ICSPS.2010.5555563

M3 - Conference contribution

AN - SCOPUS:77957288711

SN - 9781424468911

T3 - ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems

SP - V1580-V1584

BT - ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems

T2 - 2010 2nd International Conference on Signal Processing Systems, ICSPS 2010

Y2 - 5 July 2010 through 7 July 2010

ER -

Wang JH, Song CL, Yao XT, Chen JB. Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system. In ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems. 2010. p. V1580-V1584. 5555563. (ICSPS 2010 - Proceedings of the 2010 2nd International Conference on Signal Processing Systems). doi: 10.1109/ICSPS.2010.5555563

Sigma point H-infinity filter for initial alignment in marine strapdown inertial navigation system

Abstract

Publication series

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UN SDGs

Keywords

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