Robust Filtering Algorithms for Integrated Navigation Systems

This documentation presents MATLAB code for integrated navigation systems, primarily focused on initial alignment procedures. The implementation includes comprehensive system equations and state equations that model the navigation dynamics. The core filtering algorithms employed are the H-infinity filter and Kalman filter, both implemented with robust numerical techniques to handle sensor uncertainties. These algorithms significantly enhance navigation system accuracy and performance through optimal state estimation and disturbance rejection capabilities. The code structure allows for modular expansion, where additional features such as adaptive control mechanisms, precision enhancement modules, or comprehensive error analysis tools can be integrated to further optimize navigation system performance. The implementation demonstrates practical approaches for handling non-linear systems and measurement noise through covariance propagation and gain optimization techniques.