Mixed H2/H∞ Estimation Design of MEMS-Based Micro Inertial Navigation Systems

An investigation about the mixed H
₂
/H
_∞
estimation of the INS (inertial navigation system) that is mainly integrated by MEMS-based micro inertial devices (accelerometer and gyroscope) is presented in this study. The mixed H
₂
/H
_∞
estimator of INS includes two parts: a regression form fuzzy system that is adopted to approximate the unknown acceleration and angular rate commands come respectively from the MEMS-based accelerometer and gyroscope devices and a mixed H
₂
/H
_∞
estimator based on the above fuzzy system by optimal robust filter design concept for eliminating the effects of device noises and modeling uncertainties is proposed. This combination of MEMS devices and robust filtering technologies will successfully offer one an opportunity to develop a more small size and high accuracy module for practical navigation applications.