NDLI: New Approach for GPS/INS Integrated Navigation

Content Provider	IEEE Xplore Digital Library
Author	Wu Hao Tian Lei Rong Jian
Copyright Year	2009
Abstract	The integration of position and velocity is commonly used for observation model in the GPS/INS integrated navigation system, but correlation between the system’s measurements of this observation model decrease the navigation accuracy. So the integration of pseudo-range was adopted for observation model to eliminate the influence of correlation. As the observation model is nonlinear, the unscented particle filter (UPF) was introduced for states estimation to eliminate the linearization error. The simulation was carried out under the condition of less than four GPS satellites data and the filtering results of UPF method were compared with the results of extended Kalman filter (EKF) method. The simulation results show that the estimated values with both UPF and EKF method are close to the real values but the estimation error of UPF algorithm is smaller than that of EKF method.
Starting Page	312
Ending Page	316
File Size	268850
Page Count	5
File Format	PDF
ISBN	9781424464203
e-ISBN	9781424464210
DOI	10.1109/IITAW.2009.51
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation GPS/INS integrated navigation Calibration Information technology Global Positioning System unscented particle filter (UPF) extended Kalman filter (EKF) Satellites Filtering algorithms Position measurement Particle filters Velocity measurement State estimation observation model
Content Type	Text
Resource Type	Article

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