Application on kalman filtering of SINS/GPS navigation system

Author

PeiPei, Yang ; Qing, Li

Author_Institution

Inst. of Intell. Control, Univ. of Beijing Inf. Sci. & Technol., Beijing, China

fYear

2009

fDate

16-19 Aug. 2009

Abstract

The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.

Keywords

Global Positioning System; Kalman filters; parameter estimation; Global Positioning System; Kalman filtering; SINS/GPS navigation system; navigation parameters; parameter error estimation; Estimation error; Filtering algorithms; Global Positioning System; Information filtering; Information filters; Kalman filters; Navigation; Position measurement; Silicon compounds; Velocity measurement; SINS/GPS; kalman filtering; output correction; shallow combination;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-3863-1

Electronic_ISBN

978-1-4244-3864-8

Type

conf

DOI

10.1109/ICEMI.2009.5274282

Filename

5274282