Abstract
This paper deals with the problem of robust estimation for time-varying sensor errors of inertial navigation system (INS) and global positioning system integration. A nonlinear strapdown INS error model is established to describe the behavior of the the integrated system. Under assumptions of time-varying bias and noise being L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> norm bounded, a robust H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> nonlinear estimator by Krein space theory is proposed and, based on this, a proportional and multi-integral H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> estimator is developed for simultaneous estimation of the navigation states and sensor errors. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.
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