碩士 / 國立海洋大學 / 導航與通訊系碩士班 / 91 / Kalman filter, while employed in the GPS receiver as the navigational state estimator, provides optimal solution if the noise statistics for both the measurement and the system process are completely known. In practice, the noises are varying with time, which results in filtering performance degradation. In system design, H∞ filter can be employed to ensure that the energy gain from the disturbances to the estimation error will not exceed a upper bound. The philosophy of such type of filter is designed based on the approach of linear quadratic (LQ) game theory, which is sometimes called a minimax filter due to the fact that it minimizes the worst-case performance under noise uncertainties. Results based on H∞ filtering approach may provide better performance than those based on standard Kalman filtering when the statistical knowledge of noise is uncertainly. In this thesis, GPS and integration GPS/INS navigation solutions using the H∞ filtering approach is conducted and the resulting performance is discussed. The conception of robustness in the field of control is also applying to navigation system successfully.
| Identifer | oai:union.ndltd.org:TW/091NTOU0300019 |
| Date | January 2003 |
| Creators | Chien-Cheng Liang, 梁建誠 |
| Contributors | Tai-Shen Lee, Dah-Jing Jwo, 李台生, 卓大靖 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 75 |
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