UKF Based filters in INS/GPS integrated navigation systems: Novel application results

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: Novel application results. In: the 5rd IFAC WS on Automatic System for Building the Infrastructure in Developing Countries DECOM-TT 2007, 17-20 May 2007, Cesme, Turkey.

Text CN-MK-TR-002_XU J-H et al - S Gelev_NOVEL APPLICATION RESULTS.doc Download (337kB)

Abstract

The filtering problem in the INS/GPS integrated navigation system is investigated in this study. Firstly, the nonlinear model of the INS/GPS integrated navigation system is proposed. Then the applications of the EKF, the UKF and the modified adaptive UKF are put in practice based on the model. A sample set of computer simulation results for the three filter algorithms, obtained by using MATLAB platform, are given to illustrate the effectiveness of the proposed algorithm with regard to the convergence rate and the estimation precision. 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:	03 Nov 2014 13:48
Last Modified:	03 Nov 2014 13:48
URI:	https://eprints.ugd.edu.mk/id/eprint/11228

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