Hybrid Kalman/H&#8734; filter in designing optimal navigation of vehicle in PRT System

Hyunsoo Kim; Hoang Hieu Nguyen; Phi Long Nguyen; Han Sil Kim; Young Hwan Jang; Myungseon Ryu; Changho Choi

doi:10.1117/12.784322

9 January 2008 Hybrid Kalman/H∞filter in designing optimal navigation of vehicle in PRT System

Hyunsoo Kim, Hoang Hieu Nguyen, Phi Long Nguyen, Han Sil Kim, Young Hwan Jang, Myungseon Ryu, Changho Choi

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67940R (2008) https://doi.org/10.1117/12.784322
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

PRT( Personal Rapid Transit ) system is a automated operation, so that it is important exactly finding position of vehicle. Many of PRT system has accepted the GPS system for a position, speed, and direction. in this paper, we propose a combination of Kalman Filter and H∞ Filter known as Hybrid Kalman/ H∞ Filter for applying to GPS navigation algorithm. For disturbance cancellation, Kalman Filter is optimal but it requires the statistical information about process and measurement noises while H∞ Filter only minimizes the "worst-case" error and requires that the noises are bounded. The new Hybrid Filter is expected to reduce the worst-case error and exploit the incomplete knowledge about noises to provide a better estimation. The experiment shows us the ability of Hybrid Filter in GPS navigation algorithm.

Citation Download Citation

Hyunsoo Kim, Hoang Hieu Nguyen, Phi Long Nguyen, Han Sil Kim, Young Hwan Jang, Myungseon Ryu, and Changho Choi "Hybrid Kalman/H∞filter in designing optimal navigation of vehicle in PRT System", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940R (9 January 2008); https://doi.org/10.1117/12.784322

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