Hybrid Kalman/H∞filter in designing optimal navigation of vehicle in PRT System
2007
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.
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