DocumentCode
3519895
Title
A modified federal Kalman filter algorithm and its application at GPS/INS integrated navigation system
Author
You, Wenhu ; Jiang, Fuxing ; Feng, Rupeng
Author_Institution
Sch. of Astronaut., Harbin Inst. of Technol., China
Volume
2
fYear
2004
fDate
15-19 June 2004
Firstpage
1610
Abstract
The problem of optimal information fusion for complicated integrated navigation system is investigated. A modified federal Kalman filter algorithm is presented, which has different model in local and global filter. The theoretical proof and procedure of the algorithm are described in detail. Theoretical analysis and hardware-in-the-loop simulations for GPS/INS (inertial navigation system) integrated navigation system prove this algorithm can improve the fault tolerance and accuracy of the system. Moreover, this algorithm makes information fusion algorithm more universal.
Keywords
Global Positioning System; Kalman filters; fault tolerance; inertial navigation; sensor fusion; GPS; INS; fault tolerance; federal Kalman filter algorithm; hardware-in-the-loop simulations; inertial navigation system; integrated navigation system; optimal information fusion; Algorithm design and analysis; Analytical models; Fault tolerant systems; Filters; Global Positioning System; Navigation; Space technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN
0-7803-8273-0
Type
conf
DOI
10.1109/WCICA.2004.1340924
Filename
1340924
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