TY - JOUR
T1 - Nonlinear filtering of SINS/GPS integrated navigation
AU - Ma, Yuan
AU - Yang, Shuxing
AU - Zhang, Cheng
PY - 2009/8
Y1 - 2009/8
N2 - To solve the problem of convergence speed and filtering accuracy for conversional extended Kalman filter (EKF) in the research of SINS/GPS integrated navigation system, the application of unscented Kalman filter (UKF) was studied. It approximated a Gaussian distribution by means of deterministically drawed points. UKF replaced the linearization in the EKF by unscented transformation. Compared with the EKF, UKF was more easily implemented and computed efficiently. By means of the computer simulation, two methods were used in the SINS/GPS integrated system, the simulation results showed the UKF overcome the drawbacks of EKF, easily implemented and avoided the Jacobian matrix computation. Compare with EKF, the UKF greatly improve the performance of the states estimate.
AB - To solve the problem of convergence speed and filtering accuracy for conversional extended Kalman filter (EKF) in the research of SINS/GPS integrated navigation system, the application of unscented Kalman filter (UKF) was studied. It approximated a Gaussian distribution by means of deterministically drawed points. UKF replaced the linearization in the EKF by unscented transformation. Compared with the EKF, UKF was more easily implemented and computed efficiently. By means of the computer simulation, two methods were used in the SINS/GPS integrated system, the simulation results showed the UKF overcome the drawbacks of EKF, easily implemented and avoided the Jacobian matrix computation. Compare with EKF, the UKF greatly improve the performance of the states estimate.
KW - Extended Kalman filter
KW - Global positioning system (GPS)
KW - Nonlinear filter
KW - Strapdown inertial navigation
KW - Unscented Kalman filter
UR - https://www.scopus.com/pages/publications/74049144185
M3 - Article
AN - SCOPUS:74049144185
SN - 1671-4512
VL - 37
SP - 280
EP - 283
JO - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)
JF - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)
IS - SUPPL. 1
ER -