Simulation research on gravity aided navigation based on H_∞ filter theory

The precision of the traditional Kalman filter is lower or emanative because the accurate error model is inexistent,in this paper H∞ filter theory is introduced into the integrated gravimeter/INS system.The calculational methods of the optimization H∞-norm is given firstly in order to solve the problem which the value is determined by the past experience or the experiment.Its state variables include the errors of the three direction position,velocity and attitude,the measurement values is composed of the difference which is the measurement gravity abnormity in real time subtracts that of the gravity map value of the INS position.The dynamic simulation is carried out and the result shows that the technology in this paper is feasible and it can improve the system robustness,reliability and navigation precision,reduce the system complexity.The scheme can be put into practice easily.