Abstract
As high dynamic movement is always accompanied by colored noise which lacks of mathematical model, traditional Kalman filtering based on an assumption of white Gaussian noise always faces serious divergence. To enhance the performance in high dynamic environment with uncertain colored noise, a kind of robust filtering based on H-infinity technology is developed . State model of the algorithm is derived from SINS error propagation . Both p osition and velocity error s are used as the measurements. A simulation system which includes a tri-axial turntable and a GNSS signal simulator is used to verify the integration design under high dynamic environment . S imulation results proved that both the accuracy and robustness of the integration design ha ve been improved significantly. DOI: http://dx.doi.org/10.11591/telkomnika.v13i2.6876
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