说明：  针对无人水下航行器（UUV）导航性能受先验导航信息不准确和外界环境干扰影响的问题，针对捷联惯导系统（SINS）和全球定位系统（GPS）组合导航的精度和可靠性较差、定位发散、系统失效等问题，提出了一种基于多衰落因子的自适应H-无限卡尔曼滤波算法。
(Aiming at the problem that the navigation performance of unmanned underwater vehicle (UUV) is affected by the inaccuracy of prior navigation information and the interference of external environment, an adaptive H-infinite Kalman filter algorithm based on multiple fading factors is proposed to solve the problems of poor accuracy and reliability, positioning divergence and system failure of sins and GPS Integrated navigation. Firstly, the filter parameters are modified online by using time-varying adaptive fading factor to make the initial error of navigation filter converge rapidly. Secondly, combined with the advantages of robust control, the finite Kalman filter of SINS / GPS system is established to improve the robustness of the system in extreme external environment.)