Initial Alignment of AUV on Swaying Base Using H8 Robust Extended Algorithm

摘要

In order to improve inertial navigation system of the AUV Alignment on the swaying base, we propose an application of robust extended H8 Filter on AUV initial alignment. Robust extended filter is a suboptintal estimation algorithm based on robust control theory which sacrifices some accuracy to improve the filter robustness. We adopt the H8 filter to make initial alignment in order to overcome the lager errors of estimating in Kalman filter as the azimuth error. Simulation results show that: Concerning the errors of initial alignment, the result from Hoo robust filter is better than that from Kalman filter, when AUV runs on the sea the real operating environment.