The design of a velocity-acceleration tracking filter is considered. The filler achieves real-time smoothing of noisy velocity measurements by using acceleration measurements. Robust H/sub 2/-filtering is used which keeps the bias that occurs in the velocity estimation in maneuvers small, for low-cost accelerometers that attain large scale factors. Three methods of robust H/sub 2/ estimation are applied, and their results, for a simple problem with low-cost accelerometer, are compared. The resulting filters are also compared with the traditional Kalman filter and with the robust H/sub /spl infin//-filter. The results of the present note should encourage navigation engineers to apply robust H/sub 2/-filtering techniques in problems where the measurement equations include significant parameter uncertainties.
Design of linear tracking filters via robust H/sub 2/ optimization
IEEE Transactions on Aerospace and Electronic Systems ; 32 , 1 ; 388-395
1996-01-01
1765346 byte
Article (Journal)
Electronic Resource
English
Design of Linear Tracking Filters Via Robust H2 Optimization
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