TY - GEN
T1 - Research on federated kalman filter for integrated navigation system
AU - Xu, Tianlai
PY - 2011
Y1 - 2011
N2 - Combination of Global Positioning System (GPS) and Inertial Navigation System (INS) by Kalman Filter can deliver a system performance that is superior to either one in stand-alone mode. However, Kalman Filter based techniques have certain limitations. The prior information about the statistical properties of measurement noise has to be known accurately. This paper proposed and discussed an INS/GPS/magnetic compass integrated navigation method based on federated kalman filter. For the changing circumstances of navigation measurement noise statistical properties, an adaptive Kalman filter was proposed and was combined with federated kalman filter. Simulation results show the method can suppress divergent of INS errors and improve the positioning accuracy of INS/GPS/magnetic compass system, indicating the effectiveness of the method.
AB - Combination of Global Positioning System (GPS) and Inertial Navigation System (INS) by Kalman Filter can deliver a system performance that is superior to either one in stand-alone mode. However, Kalman Filter based techniques have certain limitations. The prior information about the statistical properties of measurement noise has to be known accurately. This paper proposed and discussed an INS/GPS/magnetic compass integrated navigation method based on federated kalman filter. For the changing circumstances of navigation measurement noise statistical properties, an adaptive Kalman filter was proposed and was combined with federated kalman filter. Simulation results show the method can suppress divergent of INS errors and improve the positioning accuracy of INS/GPS/magnetic compass system, indicating the effectiveness of the method.
KW - Adaptive Kalman filter
KW - Federated kalman filter
KW - INS
KW - Integrated navigation system
UR - https://www.scopus.com/pages/publications/80052846189
U2 - 10.1109/PACCS.2011.5990287
DO - 10.1109/PACCS.2011.5990287
M3 - 会议稿件
AN - SCOPUS:80052846189
SN - 9781457708565
T3 - Proceedings - PACCS 2011: 2011 3rd Pacific-Asia Conference on Circuits, Communications and System
BT - Proceedings - PACCS 2011
T2 - 2011 3rd Pacific-Asia Conference on Circuits, Communications and System, PACCS 2011
Y2 - 17 July 2011 through 18 July 2011
ER -