Applications of zero-velocity detector and Kalman filter in zero velocity update for inertial navigation system

Xiaofang Li, Yuliang Mao, Ling Xie, Jiabin Chen, Chunlei Song

科研成果: 书/报告/会议事项章节会议稿件同行评审

27 引用 (Scopus)

摘要

Zero velocity update (ZUPT) is an inexpensive and effective method for error control of inertial navigation system (INS). Detecting the stopping time interval is important for ZUPT methods. The ZUPT method based on Kalman filter has a higher degree of precision compared with the ZUPT method based on curve fitting and the ZUPT method based on maximum likelihood estimation, but the modeling of Kalman filter is critical for the performance of INS. In this paper, three kinds of zero-velocity detectors and a linear discrete Kalman filter model are applied in ZUPT for INS. Simulation results show that the three kinds of zero-velocity detectors are effective, and the ZUPT method based on the linear discrete Kalman filter model makes the positioning accuracy of INS significantly improved.

源语言英语
主期刊名2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
出版商Institute of Electrical and Electronics Engineers Inc.
1760-1763
页数4
ISBN(电子版)9781479946990
DOI
出版状态已出版 - 12 1月 2015
活动6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, 中国
期限: 8 8月 201410 8月 2014

出版系列

姓名2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

会议

会议6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
国家/地区中国
Yantai
时期8/08/1410/08/14

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