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학술지 Modified Unscented Kalman Filter for a Multirate INS/GPS Integrated Navigation System
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저자
문흐줄, 조성윤, 김경호
발행일
201310
출처
ETRI Journal, v.35 no.5, pp.943-946
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.13.0212.0540
협약과제
11VC2200, 운전 안전성 및 편의성 향상을 위한 운전자 시야 중심 차량용 증강현실 정보제공 시스템 기술개발, 김경호
초록
Instead of the extended Kalman filter, the unscented Kalman filter (UKF) has been used in nonlinear systems without initial accurate state estimates over the last decade because the UKF is robust against large initial estimation errors. However, in a multirate integrated system, such as an inertial navigation system (INS)/Global Positioning System (GPS) integrated navigation system, it is difficult to implement a UKF-based navigation algorithm in a low-grade or mid-grade microcontroller, owing to a large computational burden. To overcome this problem, this letter proposes a modified UKF that has a reduced computational burden based on the basic idea that the change of probability distribution for the state variables between measurement updates is small in a multirate INS/GPS integrated navigation filter. The performance of the modified UKF is verified through numerical simulations. © 2013 ETRI.
키워드
Modified UKF, Multirate INS/GPS, UKF
KSP 제안 키워드
Extended kalman fiLTEr, INS/GPS integrated navigation system, Integrated system, Low-grade, Navigation algorithm, Nonlinear systems, Numerical simulations, Probability distribution, State variables, Unscented Kalman filter(UKF), computational burden