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《Science of Surveying and Mapping》 2009-01
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Robust filter research on GPS/DR integrated navigation based on elliptical uncertainty model

YI Da-jiang,WANG Hao,JIA Kun,GUO Gui-rong(Electronic Engineering Ins. of National University of Defense Technology,Changsha 410073,China)  
In order to gain more accurate mathematic model,this article constructs an elliptical model of GPS/DR integrated navigation.It transforms the parameter model into uncertainty parameter model,and a simulation is performed with robust Kalman filtering and robust H∞ algorithm.By analyzing the robustness and efficiency,it concludes that robust H∞ algorithm is more suitable for practical engineering under the navigation of elliptical model of GPS/DR.
【Fund】: 国防预研项目(0308XG0900)资助
【CateGory Index】: TN713;TN967.2
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