A Rao-Blackwellized particle filter for INS/GPS integration

Author

Giremus, Audrey ; Doucet, Arnaud ; Calmettes, Vincent ; Tourneret, Jean-Yves

Author_Institution

IRIT/ENSEEIHT/TeSA, Toulouse, France

Volume

3

fYear

2004

fDate

17-21 May 2004

Abstract

The localization performance of a navigation system can be improved by coupling different types of sensors. The paper focuses on INS-GPS integration. INS and GPS measurements allow a non-linear state space model, which is appropriate to particle filtering, to be defined. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates.

Keywords

Global Positioning System; Monte Carlo methods; filtering theory; inertial navigation; parameter estimation; state-space methods; Global Positioning System; INS-GPS integration; Rao-Blackwellized filter; conditionally linear Gaussian model; estimation variance; inertial navigation systems; localization performance; navigation system; nonlinear filter; nonlinear state space model; particle filter; sequential Monte Carlo methods; Availability; Clocks; Extraterrestrial measurements; Global Positioning System; Inertial navigation; Particle filters; Particle measurements; Position measurement; Satellite navigation systems; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Acoustics, Speech, and Signal Processing, 2004. Proceedings. (ICASSP '04). IEEE International Conference on

ISSN

1520-6149

Print_ISBN

0-7803-8484-9

Type

conf

DOI

10.1109/ICASSP.2004.1326707

Filename

1326707