本論文討論強健型濾波理論在飛行導航計算上的應用，提供最佳的飛行器狀態向量估測包含緯度、經度、高度、向北速度、向東速度及向下速度之估測，目前比較普遍使用的導航計算之狀態估測是卡曼濾波器。但近年來強健控制的概念逐漸成型，所以本論文將討論卡曼濾波器和H-infinity濾波器，以實際試飛的數據做分析與討論，並且把飛行數據分成幾個姿態做討論，包括俯衝、爬升、轉彎、平飛進行H-infinity濾波器後的分析，設計性能指標上限值和雜訊權重值，希望誤差值能與近似理想的一致。 This thesis discusses the application of H-infinity filter in IMU/GPS navigation. Optimal flight vehicle states including latitude, longitude, height, north velocity, east velocity and down velocity are estimated. Kalman filters are extensively used for navigation computation.Robust H-infinity filters are brought into navigation applications recently. Kalman and H-infinity filters are discussed first in the thesis. Analysis of the application of H-infinity filter in IMU/GPS navigation computation using flight data is investigated. The results for descending, climbing, level turn, and level flight phase are discussed. Optimal estimation results are achieved through the careful selection of the proper weighting factors and the performance index.
