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Proceedings Paper

Hybrid Kalman/H∞ filter in designing optimal navigation of vehicle in PRT System
Author(s): Hyunsoo Kim; Hoang Hieu Nguyen; Phi Long Nguyen; Han Sil Kim; Young Hwan Jang; Myungseon Ryu; Changho Choi
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Paper 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.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940R (9 January 2008); doi: 10.1117/12.784322
Show Author Affiliations
Hyunsoo Kim, POSCON Corp. (South Korea)
Hoang Hieu Nguyen, Univ. of Ulsan (South Korea)
Phi Long Nguyen, Univ. of Ulsan (South Korea)
Han Sil Kim, Univ. of Ulsan (South Korea)
Young Hwan Jang, POSCON Corp. (South Korea)
Myungseon Ryu, POSCON Corp. (South Korea)
Changho Choi, POSCON Corp. (South Korea)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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