BROWSE
Detail
Journal Article
시그마 포인트 기반 RHKF 필터를 사용한 지상 항법용 DR/GPS 결합 시스템의 성능 향상
Cited - time in 
Download 0 time
Share 
Download 0 time
Share
- Issue Date
- 2006-02
- Citation
- 제어로봇시스템학회논문지, v.12, no.2, pp.174-185
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- Project Code
- 05MD2300, Development of High Precision Positioning Components, Wan Sik Choi
- Abstract
- This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.
- KSP Keywords
- MEMS Inertial Sensors, Model uncertainty, Navigation information, Random walk, Receding Horizon Strategy, Sigma Point, Temperature variations, computational burden, estimation error, navigation system, system model