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Journal Article Modified Unscented Kalman Filter for a Multirate INS/GPS Integrated Navigation System
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Authors
Munkhzul Enkhtur, Seong Yun Cho, Kyong-Ho Kim
Issue Date
2013-10
Citation
ETRI Journal, v.35, no.5, pp.943-946
ISSN
1225-6463
Publisher
한국전자통신연구원 (ETRI)
Language
English
Type
Journal Article
DOI
https://dx.doi.org/10.4218/etrij.13.0212.0540
Abstract
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.
KSP Keywords
Estimation error, Global positioning system(GPS), INS/GPS integrated navigation system, Inertial navigation system(INS), Low-grade, Numerical simulation(Trnsys16), Probability distribution, State variables, Unscented Kalman Filter, computational burden, extended kalman filter