Hybrid filter combining with ZUPT for vehicle MINS

Author

Yang, Chunjie ; Gao, Zongyu ; Li, Desheng

Author_Institution

Dept. of Inf. & Contral, Univ. of Posts & Telecommun., Xi´´an, China

Volume

2

fYear

2010

fDate

6-7 March 2010

Firstpage

370

Lastpage

374

Abstract

This paper proposes hybrid unscented particle filter for integrated navigation system of vehicle which have characteristics of long-time moving and frequent changes in dynamic performance and different non-linear and non-Gauss characteristics. The algorithm combined with zero velocity updates method (ZUPT) and effectively reduced the error of different vehicle´s dynamic characteristics based on the integrated navigation system of vehicle. The test result show the method effectively to improved positioning accuracy and the error accumulation of vehicle.

Keywords

Global Positioning System; Kalman filters; inertial navigation; micromechanical devices; particle filtering (numerical methods); vehicle dynamics; MEMS; ZUPT; hybrid filter; inertial navigation system; navigation system; vehicle MINS; vehicle dynamics; zero velocity updates method; Accelerometers; Aerodynamics; Global Positioning System; Micromechanical devices; Navigation; Paper technology; Particle filters; Remotely operated vehicles; Robotics and automation; Vehicle dynamics; GPS output; Non-linear; ZUPT; hybrid unscented particle filter (HUPF); integrated navigation system (INS);

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on

Conference_Location

Wuhan

ISSN

1948-3414

Print_ISBN

978-1-4244-5192-0

Electronic_ISBN

1948-3414

Type

conf

DOI

10.1109/CAR.2010.5456523

Filename

5456523