Mixed H2/H00 Estimators for Universal GPS/INS Integration

The object of this phase I project is to develop and test innovative universal GPS/INS estimators based on an advanced mixed H2/H00 filtering technique. The estimators will be universal in the sense that it will not require custom filter design, while providing robustness to measurement outliers, near sufficiency, minimum variance, noise suppression and mitigation of the effects of large derivations. The innovations of this proposal include: 1) Investigation of advanced algorithms for solving the GPS pseudorange equations; 2) Establishment of an innovative mixed H2/H00 estimation technique for providing robust, near sufficient, optimal error estimates; 3) Development of novel universal GPS/INS estimators based on the mixed H2/H00 estimation technique; 4) Real-time hardware/software design architecture for designment evaluating the prototyping universal GPS/INS systems. The approaches detailed in this proposal allow highly flexible universal integration of any GPS receiver with any INS system in terms of the need for custom, and thereby significantly reduce nonrecurring software development costs.