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학술지 Adaptive IIR/FIR fusion Filter and Its Application to the INS/GPS Integrated System
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저자
조성윤, 김병두
발행일
200808
출처
Automatica, v.44 no.8, pp.2040-2047
ISSN
0005-1098
출판사
Elsevier
DOI
https://dx.doi.org/10.1016/j.automatica.2007.11.009
협약과제
08MC2900, 실내외 연속측위 기술개발, 최완식
초록
Motivated by the complementary features of the IIR-type filter and the FIR-type filter, this paper proposes a robust IIR/FIR fusion filter and an INS/GPS integrated system designed with the fusion filter. In the fusion filter, an IIR-type filter (SPKF) and a FIR-type filter (MRHKF filter) are processed independently, and then the two filters are merged using the mixing probability calculated using the residuals and residual covariance information of the two filters. The merits of the SPKF and the MRHKF filter are integrated and the demerits of the filters are diminished through the filter fusion. Consequently, the proposed fusion filter shows robustness against model uncertainty, temporary disturbing noise, large initial estimation error, etc. The stability of the fusion filter is verified by showing the closeness of two filters in the mixing/redistribution process and the upper bound of the error covariance matrices. This fusion filter is applied to an INS/GPS integrated system. The performance of the INS/GPS integrated system designed using the fusion filter is verified through a simulation under various error environments and is experimentally confirmed. © 2008 Elsevier Ltd. All rights reserved.
키워드
Estimation, IIR/FIR fusion filter, INS/GPS, MRHKF filter, SPKF, Stability
KSP 제안 키워드
Covariance information, Filter fusion, INS/GPS integrated system, Model uncertainty, Upper bounds, error covariance matrices, estimation error