Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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The Development of Accurate GPS Module Using Discrete-Time $H_{\infty}$ Filter

이산형 $H_{\infty}$ 필터를 이용한 고정밀 GPS 모듈의 개발

  • 윈황휴 (울산대학교 자동차선박기술대학원) ;
  • 윈필롱 (울산대학교 전기전자정보공학부) ;
  • 이상훈 (울산대학교 전기전자정보공학부) ;
  • 박옥득 (울산대학교 전기전자정보공학부) ;
  • 김현수 (울산대학교 전기전자정보공학부) ;
  • 김한실 (울산대학교 전기전자정보공학부)
  • Published : 2006.10.27
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Abstract

In this paper, we present the traditional GPS Position- Velocity (PV) model to apply for both Discrete-Time Kalman Filter and Discrete-Time $H_{\infty}$ Filter. The positioning algorithms of both filters are proposed for a stand-alone low-cost GPS module to increase its accuracy. For disturbance cancellation, the Kalman Filter requires the statistical information about process and measurement noises while the $H_{\infty}$ Filter only requires that these noises are bounded. Experiments show that with the same measurement data, $H_{\infty}$ Filter gives us better positioning results compared with Least-Squared method and Kalman Filter.

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