[1] Li Qinghua, Chen Xiyuan, Xu Yuan, et al. Distributed H∞ fusion filter designfor INS/WSN integrated positioning system [J]. Journal of Southeast University (English Edition), 2012, 28 (2): 164-168. [doi:10.3969/j.issn.1003-7985.2012.02.006]

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Distributed H_∞ fusion filter designfor INS/WSN integrated positioning system()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

28

Issue:

2012 2

Page:

164-168

Research Field:

Electromagnetic Field and Microwave Technology

Publishing date:

2012-06-30

Info

Title:

Distributed H_∞ fusion filter designfor INS/WSN integrated positioning system

Author(s):

Li Qinghua¹;  2;  Chen Xiyuan¹;  3;  Xu Yuan¹;  3

¹School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
² School of Electrical Engineering and Automation, Shandong Polytechnic University, Jinan 250353, China
³ Key Laboratory of

Keywords:

inertial navigation system;  wireless sensor network;  H_∞ filter;  distributed fusion

PACS:

TN967.3

DOI:

10.3969/j.issn.1003-7985.2012.02.006

Abstract:

In order to keep stable navigation accuracy when the blind node(BN)moves between two adjacent clusters, a distributed fusion method for the integration of the inertial navigation system(INS)and the wireless sensor network(WSN)based on H_∞ filtering is proposed. Since the process and measurement noise in the integration system are bounded and their statistical characteristics are unknown, the H_∞ filter is used to fuse the information measured from local estimators in the proposed method. Meanwhile, the filter can yield the optimal state estimate according to certain information fusion criteria. Simulation results show that compared with the federal Kalman solution, the proposed method can reduce the mean error of position by about 45% and the mean error of velocity by about 85%.

References:

[1] Xu Z, Li Y, Rizos C, et al. Novel hybrid of LS-SVM and Kalman filter for GPS/INS integration[J]. Journal of Navigation, 2010, 63(2):289-299.
[2] Aboelmagd N, Ahmed E, Mohamed B. GPS/INS integration utilizing dynamic neural networks for vehicular navigation [J]. Information Fusion, 2011, 12(1): 48-57.
[3] Retscher G, Fu Q. An intelligent personal navigator integrating GNSS, RFID and INS for continuous position determination [J]. Boletim de Ciências Geodésicas, 2009, 15(5): 707-724.
[4] Xu Y, Chen X Y. Tightly-coupled model for INS/WSN integrated navigation based on Kalman filter [J]. Journal of Southeast University: English Edition, 2011, 27(4):384-387.
[5] Sun P, Fu Q, Li S, et al. Robust non-fragile H-infinity filtering on GPS/INS integrated navigation systems[C]//Proceedings of the Chinese Control and Decision Conference. Xuzhou, China, 2010:2041-2045.
[6] Zhang L, Wang B. Application of H_∞ filtering for outliers restraining in integrated navigation [J]. Transaction of Beijing Institute of Technology, 2009, 29(7):600-604.
[7] Chen Y, Yuan J. An improved robust H_∞ multiple fading fault-tolerant filtering algorithm for INS/GPS integrated navigation [J]. Journal of Astronautics, 2009, 30(3):930-936.
[8] Wan Z, Zhou B, Ma Y, et al. Adaptive federated H_∞ filter and its application in integrated navigation system [J]. Journal of Southeast University: Natural Science Edition, 2004, 34(5):623-626.(in Chinese)
[9] El Bouhtouri A, Hinrichsen D, Pritchard A J. H_∞-type control for discrete-time stochastic systems [J]. Int J Robust Nonlinear Control, 1999, 9(13):923-948.
[10] Gershon E, Shaked U, Yaesh I. Robust H_∞ estimation of stationary discrete-time linear processes with stochastic uncertainties[J]. System & Control Letters, 2002, 45(4):257-269.
[11] Zhang W, Zhang H, Chen B S. Stochastic H2/H_∞ control with(x, u, v)-dependent noise: finite horizon case[J]. Automatica, 2006, 42(11):1891-1898.
[12] Zhang W, Chen B S, Tseng C S. Robust H∞ filtering for nonlinear stochastic systems[J]. IEEE Trans Signal Processing, 2005, 53(2):589-598.

Memo

Memo:

Biographies: Li Qinghua(1977—), male, doctor, associate professor; Chen Xiyuan(corresponding author), male, doctor, professor, chxiyuan@seu.edu.cn.
Foundation items: The National Basic Research Program of China(973 Program)(No.2009CB724002), the National Natural Science Foundation of China(No.50975049), the Specialized Research Fund for the Doctoral Program of Higher Education(No.20110092110039), the Program for Special Talents in Six Fields of Jiangsu Province(No.2008143), the Program Sponsored for Scientific Innovation Research of College Graduates in Jiangsu Province, China(No.CXLX_0101).
Citation: Li Qinghua, Chen Xiyuan, Xu Yuan. Distributed H_∞ fusion filter design for INS/WSN integrated positioning system[J].Journal of Southeast University(English Edition), 2012, 28(2):164-168.[doi:10.3969/j.issn.1003-7985.2012.02.006]

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