A suboptimal Kalman filter with fading factors for DGPS/MEMS-IMU/magnetic compass integrated navigation

Author

Zhang, Jing ; Zhi-hua Jin ; Tian, Wei-feng

Author_Institution

Dept. of Instrum., Shanghai Jiao Tong Univ., China

Volume

2

fYear

2003

fDate

12-15 Oct. 2003

Firstpage

1229

Abstract

In this paper, a new approach that performs DGPS/MEMS-IMU/magnetic compass integrated navigation based on a suboptimal Kalman filter is proposed. The purpose is bounding MEMS-IMU errors with non-drift DGPS and magnetic compass through a robust filter as long as DGPS locked information is available. Because the difficulties of establishing an accurate sensor error model for MEMS-IMU and the limitation of computer burden, the suboptimal Kalman filter with fading factors is intended for improving the robustness to the model uncertainties and assure the convergence of state estimation. It is always on-line when GPS locks so that it does not need to renew initial parameters every other interval to recalibrate MEMS-IMU. The performance of this approach is tested through computer simulations.

Keywords

Global Positioning System; Kalman filters; compasses; micromechanical devices; navigation; DGPS; IMU; MEMS; fading factors; magnetic compass; model uncertainties; navigation; robust filter; sensor error model; state estimation; suboptimal Kalman filter; Computer errors; Fading; Global Positioning System; Information filtering; Information filters; Magnetic sensors; Magnetic separation; Navigation; Robustness; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE

Print_ISBN

0-7803-8125-4

Type

conf

DOI

10.1109/ITSC.2003.1252680

Filename

1252680