Abstract
This thesis discusses the application of H-infinity filter in IMU/GPS navigation. Optimal flight vehicle states including latitude, longitude, height, north velocity, east velocity and down velocity are estimated. Kalman filters are extensively used for navigation computation.Robust H-infinity filters are brought into navigation applications recently. Kalman and H-infinity filters are discussed first in the thesis. Analysis of the application of H-infinity filter in IMU/GPS navigation computation using flight data is investigated. The results for descending, climbing, level turn, and level flight phase are discussed. Optimal estimation results are achieved through the careful selection of the proper weighting factors and the performance index.
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