TY - GEN
T1 - Unscented Kalman filter for DR/GPS integrated navigation system
AU - Han, Yongqiang
AU - Chen, Jiabin
AU - Liu, Zhide
AU - Zhao, Dunhui
AU - Song, Chunlei
AU - Yin, Jingyuan
PY - 2010
Y1 - 2010
N2 - In this paper, unscented Kalman filter (UKF) is studied to estimate the state of Dead reckoning (DR) and GPS integrated navigation system. The positioning error of DR system mainly comes from two factors, the azimuth error and odometer scale factor error. Conventional model of DR/GPS integrated navigation chooses acceleration, position and velocity as observation states, and azimuth error is not estimated, which is one of the key error sources. A new error model of DR/GPS system is adopted that includes azimuth error as a state, which makes it possible to estimate both of the two major error sources. UKF directly approximates the probability density distribution of random variable and avoids the linearization of nonlinear function, which improves the filtering precision. UKF is used to implement an improved DR/GPS system. Road test has been conducted to prove the effectiveness of the scheme.
AB - In this paper, unscented Kalman filter (UKF) is studied to estimate the state of Dead reckoning (DR) and GPS integrated navigation system. The positioning error of DR system mainly comes from two factors, the azimuth error and odometer scale factor error. Conventional model of DR/GPS integrated navigation chooses acceleration, position and velocity as observation states, and azimuth error is not estimated, which is one of the key error sources. A new error model of DR/GPS system is adopted that includes azimuth error as a state, which makes it possible to estimate both of the two major error sources. UKF directly approximates the probability density distribution of random variable and avoids the linearization of nonlinear function, which improves the filtering precision. UKF is used to implement an improved DR/GPS system. Road test has been conducted to prove the effectiveness of the scheme.
KW - Azimuth error
KW - Dead reckoning
KW - Integrated navigation system
KW - Unscented Kalman filter
UR - http://www.scopus.com/inward/record.url?scp=78650756145&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.121-122.750
DO - 10.4028/www.scientific.net/AMR.121-122.750
M3 - Conference contribution
AN - SCOPUS:78650756145
SN - 9780878492510
T3 - Advanced Materials Research
SP - 750
EP - 755
BT - Nanotechnology and Computer Engineering
T2 - 2010 IITA International Conference on Nanotechnology and Computer Engineering, CNCE 2010
Y2 - 20 July 2010 through 21 July 2010
ER -