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Conference Paper
Enhanced MEMS-INS/GPS Integrated System
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- Authors
- Seong Yun Cho, Byung Doo Kim, Young Su Cho, Wan Sik Choi
- Issue Date
- 2006-09
- Citation
- International Technical Meeting of the Satellite Division (ION GNSS) 2006, pp.2715-2722
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper demonstrates an adaptive fusion filter for MEMS-INS/GPS integrated system. Motivated by the complementary features of the IIR-type filter and the FIRtype filter, this paper proposes a robust and adaptive IIR/ FIR fusion filter and a MEMS-INS/GPS integrated system designed by the fusion filter. In the filtering for nonlinear systems, the representative filter -EKF, and the alternative filters -RHKF filter, SPKF, etc. have individual merits and demerits. The key concept of the filter fusion is merging the strengths of the filters. This paper fuses the IIR-type filter -SPKF, and the FIR-type filter -RHKF filter using the adaptive strategy and applies the fusion filter to MEMS-INS/GPS integration. The fusion filter has several advantages over the EKF, SPKF, and RHKF filter. Simulation and experiment results verify that the proposed MEMS-INS/GPS using the fusion filter has robustness to the system uncertainty, temporary unknown bias, large initial estimation error, and so on.
- KSP Keywords
- Adaptive fusion, Estimation error, Experiment results, Filter fusion, INS/GPS integrated system, INS/GPS integration, Merits and Demerits, Simulation and experiment, adaptive strategy, nonlinear systems, system uncertainty