INS/GPS Integration System using Adaptive Filter for Estimating Measurement Noise Variance

Author

Yu, Myeong-Jong

Author_Institution

3rd R&D Inst., Agency for Defense Dev., Daejeon, South Korea

Volume

48

Issue

2

fYear

2012

fDate

4/1/2012 12:00:00 AM

Firstpage

1786

Lastpage

1792

Abstract

The inertial navigation system (INS)/GPS integration system is designed by employing an adaptive filter that can estimate measurement noise variance using the residual of the measurement. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulations were performed by assuming that GPS information has large position errors. The simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than a system that uses the extended Kalman filter.

Keywords

Global Positioning System; adaptive Kalman filters; attitude measurement; error statistics; estimation theory; inertial navigation; nonlinear filters; position measurement; GPS information; INS integration system; adaptive filter; attitude errors estimation; extended Kalman filter; inertial navigation system integration system; loosely-coupled INS-GPS integration system; measurement noise variance estimation; position errors; position estimation; Adaptive filters; Equations; Global Positioning System; Kalman filters; Mathematical model; Noise; Noise measurement;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2012.6178100

Filename

6178100