UKF Based filters in INS/GPS integrated navigation systems: A Theoretical study

Jia-he, Xu and Yuan-wei, Jing and Lian-dong, Shi and Gelev, Saso and Dimirovski, Georgi (2007) UKF Based filters in INS/GPS integrated navigation systems: A Theoretical study. In: 5rd IFAC WS on Automatic System for Building the Infrastructure in Developing Countries DECOM-TT 2007, 17-20 May, Cesme, Turkey.

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Abstract

The filtering problem in the INS/GPS integrated navigation system is investigated in this study. Firstly, the Unscented Kalman Filter is introduced in allusion to the nonlinear model of the integrated navigation system. And the appropriate modification on UKF which has strong tracking capability is proposed. This modified algorithm has high convergence speed to the system errors while its precision is similar to that of conventional UKF. Copyright © 2007 IFAC Keywords: Adaptive signal processing, integrated navigation system, INS/GPS, trace tracking, unscented Kalman filter, nonlinear control systems

Item Type: Conference or Workshop Item (Paper)
Subjects: Engineering and Technology > Electrical engineering, electronic engineering, information engineering
Divisions: Faculty of Electrical Engineering
Depositing User: Saso Gelev
Date Deposited: 19 Sep 2013 12:50
Last Modified: 07 Aug 2015 09:35
URI: http://eprints.ugd.edu.mk/id/eprint/7487

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