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학술지 Modified RHKF Filter for Improved DR/GPS Navigation Against Uncertain Model Dynamics
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조성윤, 이형근
ETRI Journal, v.34 no.3, pp.379-387
한국전자통신연구원 (ETRI)
11DC1100, UWB 기반 휴대용 피아식별/병사통신 시스템 개발, 조성윤
In this paper, an error compensation technique for a dead reckoning (DR) system using a magnetic compass module is proposed. The magnetic compass-based azimuth may include a bias that varies with location due to the surrounding magnetic sources. In this paper, the DR system is integrated with a Global Positioning System (GPS) receiver using a finite impulse response (FIR) filter to reduce errors. This filter can estimate the varying bias more effectively than the conventional Kalman filter, which has an infinite impulse response structure. Moreover, the conventional receding horizon Kalman FIR (RHKF) filter is modified for application in nonlinear systems and to compensate the drawbacks of the RHKF filter. The modified RHKF filter is a novel RHKF filter scheme for nonlinear dynamics. The inverse covariance form of the linearized Kalman filter is combined with a receding horizon FIR strategy. This filter is then combined with an extended Kalman filter to enhance the convergence characteristics of the FIR filter. Also, the receding interval is extended to reduce the computational burden. The performance of the proposed DR/GPS integrated system using the modified RHKF filter is evaluated through simulation. © 2012 ETRI.
KSP 제안 키워드
Compass module, Dead reckoning, Error Compensation, Extended kalman fiLTEr, Finite Impulse Response filter(FIR filter), GPS navigation, Infinite Impulse Response, Integrated system, Inverse covariance, Magnetic compass, Magnetic sources