A customized H-infinity algorithm for underwater navigation system: With experimental evaluation

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• 作者：Mehdi Emami^a ; ^{m.emami@stu.yazd.ac.ir} ; Mohammad Reza Taban^b ; ^{mrtaban@cc.iut.ac.ir}
• 关键词：DVL ; INS ; Underwater Navigation System ; H-infinity filter
• 刊名：Ocean Engineering
• 出版年：2017
• 出版时间：15 January 2017
• 年：2017
• 卷：130
• 期：Complete
• 页码：611-619
• 全文大小：2525 K
• 卷排序：130

文摘

An improved integrated navigation system based on H-infinity filter is proposed. Estimation of the performance bound parameter of H-infinity filter is suggested. The proposed system is robust versus the system modeling errors and noise uncertainty The proposed system can effectively decrease the effect of the DVL's outlier data. The performance of the proposed system is evaluated through several sea tests.