Nonlinear Filtering for Ultra-Tight GNSS/INS Integration

Author

Prades, Carles Fernández ; Closas, Pau ; Valls, Jordi Vilà

Author_Institution

Centre Tecnol. de Telecomun. de Catalunya (CTTC), Castelldefels, Spain

fYear

2010

fDate

23-27 May 2010

Firstpage

1

Lastpage

5

Abstract

This paper considers the problem of ultra-tight GNSS/INS integration. We propose a new approach, deriving the direct relation between Inertial Measurement Unit (IMU) measurements and synchronization parameters, used in the trilateration algorithm to compute the position of the receiver. We take into account the IMU´s eventual biased behavior by introducing it into the state representation. We use a recently-developed, square-root derivative-free Gaussian nonlinear filter to solve the estimation problem.

Keywords

Kalman filters; inertial navigation; nonlinear filters; satellite navigation; synchronisation; inertial measurement unit; receiver; square-root cubature Kalman filter; square-root derivative-free Gaussian nonlinear filter; synchronization parameters; trilateration algorithm; ultratight GNSS-INS integration; Communications Society; Filtering; Measurement units; Nonlinear filters; Position measurement; Q measurement; Satellite navigation systems; Stability; Tracking loops; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications (ICC), 2010 IEEE International Conference on

Conference_Location

Cape Town

ISSN

1550-3607

Print_ISBN

978-1-4244-6402-9

Type

conf

DOI

10.1109/ICC.2010.5502037

Filename

5502037