A robust data driven error damping method for inertial navigation system based on unfalsified adaptive control

The Unfalsified Adaptive Control Theory is introduced to the field of marine inertial navigation system, in order to achieve better performance in estimating the pitch, roll and yaw angle of the ship with the help of a velocimeter which can measure the velocity of the ship relative to the bottom of the sea. The error of inertial navigation system drifts with time, so that extra observations (position, velocity etc.) are needed to help damping the error. Normally a feedback loop based on gyro compassing can do the work, yet the loop parameters are fixed, which makes it neither optimal nor the most robust. Unfalsified Adaptive Control Theory is introduced to help modify the gyro compassing loop to make it adaptively adjust the parameters to deal with the measurement noises and disturbances, which has better accuracy and is disturbance resist ability.