Stochastic Integration H_∞ Filter for Rapid Transfer Alignment of INS

Area of Science:

• Navigation Systems
• Control Theory
• Signal Processing

Background:

• Inertial Navigation Systems (INS) performance on moving bases relies heavily on accurate Rapid Transfer Alignment (RTA).
• Large initial attitude errors and uncertain noise statistics challenge misalignment angle estimation accuracy in practical RTA.

Purpose of the Study:

• To develop a novel robust nonlinear filter, the Stochastic Integration H ∞ Filter (SIH ∞ F), for improved RTA accuracy and robustness.
• To address estimation challenges posed by significant nonlinearity and uncertainty in RTA.

Main Methods:

• Incorporation of the stochastic spherical-radial integration rule into a derivative-free H ∞ filter framework.
• Development of the SIH ∞ F to simultaneously mitigate nonlinear effects and uncertainty.

Main Results:

• The SIH ∞ F demonstrated superior performance compared to the Cubature H ∞ filter in numerical simulations and a van test.
• The proposed filter effectively attenuates estimation errors caused by nonlinearity and uncertainty.

Conclusions:

• The SIH ∞ F offers enhanced accuracy and robustness for RTA in INS.
• The SIH ∞ F combines the advantages of traditional stochastic integration filters with improved robustness against uncertainty.