Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

Hua Liu; Tong Liu

Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

Hua Liu^*
, Tong Liu

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle's body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.

Original language	English
Pages (from-to)	392-396
Number of pages	5
Journal	Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology
Volume	21
Issue number	3
Publication status	Published - Jun 2013

Keywords

Federated Kalman filter
GNSS
MEMS IMU
Quaternion

Cite this

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title = "Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS",

abstract = "The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle's body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25\% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.",

keywords = "Federated Kalman filter, GNSS, MEMS IMU, Quaternion",

author = "Hua Liu and Tong Liu",

year = "2013",

month = jun,

language = "English",

volume = "21",

pages = "392--396",

journal = "Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology",

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T1 - Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

AU - Liu, Hua

AU - Liu, Tong

PY - 2013/6

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N2 - The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle's body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.

AB - The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle's body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.

KW - Federated Kalman filter

KW - GNSS

KW - MEMS IMU

KW - Quaternion

UR - https://www.scopus.com/pages/publications/84880370405

M3 - Article

AN - SCOPUS:84880370405

SN - 1005-6734

VL - 21

SP - 392

EP - 396

JO - Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology

JF - Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology

IS - 3

ER -

Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

Abstract

Keywords

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