Integration of Inertial Navigation System with EM-log Using H-infinity Filter Jaehyuck Cha, Hojin Ju, Chan Gook Park, Kijeong Yoo and Chanju Park E3S Web Conf., 94 (2019) 01013 Published online: 08 May 2019 DOI: 10.1051/e3sconf/20199401013