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다중속도 INS/GPS 결합 항법 시스템의 실시간 구현을 고려한 수정된 UKF
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- Issue Date
- 2013-02
- Citation
- 제어로봇시스템학회논문지, v.19, no.2, pp.87-94
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- UKF (Unscented Kalman Filter) has been used in the nonlinear systems without initial accurate state estimates instead of EKF (Extended Kalman Filter) of the last decade because the UKF has robustness to the large initial estimation error. In the multi-rate integrated system such as INS (Inertial Navigation System)/GPS (Global Positioning System) integrated navigation system, however, it is difficult to implement the UKF based navigation algorithm in the mid-grade micro-processor due to the largecomputational burden. To overcome this problem, this paper proposes a MUKF (Modified UKF) that has a reduced computation burden using the basic idea that the change of the provability distribution for the state variables between measurement updates is small in the multi-rate INS/GPS integrated navigation filter. The performance of the proposed MUKF is verified by numerical simulations. © ICROS 2013.
- KSP Keywords
- Estimation error, Global positioning system(GPS), INS/GPS integrated navigation, Inertial navigation system(INS), Integrated Navigation System, Micro-processor, Multi-rate, Numerical simulation(Trnsys16), State variables, Unscented Kalman Filter, extended kalman filter