TY - GEN
T1 - Geomagnetism/GPS/SINS integrated navigation based on an improved Square-root UKF
AU - Huang, Xianlin
AU - Li, Mingming
AU - Hu, Haidong
AU - Lu, Hongqian
PY - 2009
Y1 - 2009
N2 - According to the peculiarity of the system model, the Square-root UKF algorithm is improved. Compared with Square-root UKF, the improved Square-root UKF reduces the computational complexity, under the premise of guaranteeing the positive semi-definiteness of the state covariance. To improve the performance of navigation system when the attitude errors are large, a nonlinear attitude errors measurement equation of geomagnetism is derived, and a new nonlinear algorithm for geomagnetism/GPS/SINS integrated navigation is proposed based on the improved Square-root UKF. The simulation results show that the effect of attitude errors of correction is enhanced through introducing the information of attitude errors of geomagnetism into navigation system in the case of system with large attitude errors. It can be concluded that the nonlinear geomagnetism/GPS/SINS integrated navigation system can improve the performance of navigation.
AB - According to the peculiarity of the system model, the Square-root UKF algorithm is improved. Compared with Square-root UKF, the improved Square-root UKF reduces the computational complexity, under the premise of guaranteeing the positive semi-definiteness of the state covariance. To improve the performance of navigation system when the attitude errors are large, a nonlinear attitude errors measurement equation of geomagnetism is derived, and a new nonlinear algorithm for geomagnetism/GPS/SINS integrated navigation is proposed based on the improved Square-root UKF. The simulation results show that the effect of attitude errors of correction is enhanced through introducing the information of attitude errors of geomagnetism into navigation system in the case of system with large attitude errors. It can be concluded that the nonlinear geomagnetism/GPS/SINS integrated navigation system can improve the performance of navigation.
KW - Geomagnetic navigation
KW - Integrated navigation
KW - Square-root UKF
UR - https://www.scopus.com/pages/publications/71949120500
U2 - 10.1109/ICICTA.2009.734
DO - 10.1109/ICICTA.2009.734
M3 - 会议稿件
AN - SCOPUS:71949120500
SN - 9780769538044
T3 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
SP - 73
EP - 76
BT - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
T2 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Y2 - 10 October 2009 through 11 October 2009
ER -