Research on optical/inertial integrated navigation for soft landing on asteroids using mixed H2/H∞ filter

Divergence of traditional Kalman filtering will happen while observation or system noise does not accorded with hypothesis and H_∞ filtering has not enough precision although robustness, so the popular style is the mixed H₂/H_∞ filtering. Aiming at the problem, this paper puts forward a kind of filtering way which mixes filtering mode using a weighted combination of the H₂ and H_∞ gains without creating model for noise, and applies the algorithm to the optical/inertial integrated navigation system. The simulation results indicate that the optical/inertial integrated navigation system for soft landing on asteroids using the mixed H₂/H_∞ filter improves the robustness as guaranteeing the enough precision of the navigation system.