An H ∞ Technology for Control of the Integrity of the Kalman Type of Estimating Filters with the Use of Adaptive Robust Procedures

摘要

This paper is devoted to the problem of increasing the level of confidence when the state of nonlinear dynamical systems (DSs) is estimated with the help of an extended Kalman filter (EKF). The problem mentioned involves a need for the prevention of EKF divergence. The proposed solution of the above problem relies both on the technique of matrix inequalities and on the technology ofH?optimization. Compared with a traditional EKF, the solution obtained includes, in addition, the loops intended to monitor and protect the integrity of an estimating filter. The results of the mathematical simulation are given, which corroborate the effectiveness of the proposed approach.