{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T14:32:41Z","timestamp":1774276361551,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2017,11,28]],"date-time":"2017-11-28T00:00:00Z","timestamp":1511827200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61374215"],"award-info":[{"award-number":["61374215"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100019082","name":"Shanghai Aerospace Science and Technology Innovation Fund","doi-asserted-by":"publisher","award":["SAST2016024"],"award-info":[{"award-number":["SAST2016024"]}],"id":[{"id":"10.13039\/501100019082","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Postgraduate Research &amp; Practice Innovation Program of Jiangsu Province","award":["KYCX17_0103"],"award-info":[{"award-number":["KYCX17_0103"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Transfer alignment is always a key technology in a strapdown inertial navigation system (SINS) because of its rapidity and accuracy. In this paper a transfer alignment model is established, which contains the SINS error model and the measurement model. The time delay in the process of transfer alignment is analyzed, and an H\u221e filtering method with delay compensation is presented. Then the H\u221e filtering theory and the robust mechanism of H\u221e filter are deduced and analyzed in detail. In order to improve the transfer alignment accuracy in SINS with time delay, an adaptive H\u221e filtering method with delay compensation is proposed. Since the robustness factor plays an important role in the filtering process and has effect on the filtering accuracy, the adaptive H\u221e filter with delay compensation can adjust the value of robustness factor adaptively according to the dynamic external environment. The vehicle transfer alignment experiment indicates that by using the adaptive H\u221e filtering method with delay compensation, the transfer alignment accuracy and the pure inertial navigation accuracy can be dramatically improved, which demonstrates the superiority of the proposed filtering method.<\/jats:p>","DOI":"10.3390\/s17122753","type":"journal-article","created":{"date-parts":[[2017,11,28]],"date-time":"2017-11-28T11:23:50Z","timestamp":1511868230000},"page":"2753","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Novel Adaptive H\u221e Filtering Method with Delay Compensation for the Transfer Alignment of Strapdown Inertial Navigation Systems"],"prefix":"10.3390","volume":"17","author":[{"given":"Weiwei","family":"Lyu","sequence":"first","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xianghong","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,11,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1109\/TIM.2015.2502879","article-title":"Analytic Coarse Transfer Alignment Based on Inertial Measurement Vector Matching and Real-Time Precision Evaluation","volume":"65","author":"Lu","year":"2016","journal-title":"IEEE Trans. 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