A New Federated Filtering Method for Integrated Navigation of Vehicles

Author

Zhang, Hongmei ; Liu, Sheng ; Du, Chunyang

Author_Institution

Univ. Harbin, Harbin

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

917

Lastpage

921

Abstract

According to the characteristic of integrated navigation systems of GPS/DR, a new federated filter is proposed, in which the sub-filters are composed by a Kalman filter and an unscented Kalman filter. The information allocation factor is adopted as a form of minimum mean square error (MMSE) base on observation error. By this scheme, not only the output information is fused optimally, but also the computing load and difficulty decrease, and the reliability and error tolerance are improved. The simulation results show that, the position precision is comparative as that of the UKF, and is higher than that of the EKF.

Keywords

Global Positioning System; Kalman filters; mean square error methods; path planning; road vehicles; Global Positioning System; dead reckoning; error tolerance; federated filtering; information allocation factor; integrated vehicle navigation; minimum mean square error; reliability; unscented Kalman filter; Automation; Fault tolerant systems; Filtering; Filters; Global Positioning System; Motion planning; Satellite navigation systems; Sensor systems; State estimation; Vehicles; Federated filter; Fusion; Integrated navigation; Unscented Kalman filter (UKF);

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303668

Filename

4303668