NDLI: Comparison of nonlinear filtering approach in tightly-coupled GPS/INS navigation system

Content Provider	IEEE Xplore Digital Library
Author	Qi Nie Xiaoying Gao
Copyright Year	2012
Description	Author affiliation: The National Key Laboratory of Science and Technology on Aerospace Intelligent Control, Beijing Aerospace Automatic Control Institute, No.52, Yongding Road, Haidian District, China (Qi Nie; Xiaoying Gao)
Abstract	This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GPS/INS navigation systems. Usually, an extended Kalman fiter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view, as it approximates the propagation of mean an covariance of Gaussian random vectors through these nonlinear models by a linear transformation, which is accurate to first-order only. The sigma-point Kalman filter (SPKF) family of algorithms use a carefully selected set of sample points to more accurately map the probability distribution than linearization of the standard EKF, leading to faster convergence from inaccurate initial conditions in position and attitude estimation problems, which achieves an accurate approximation to at least second-order. Therefore, the performance of EKF and SPKF applied to tightly-coupled GPS/INS integration is compared in numerical simulations. It is found that the SPKF approach offers better performances over standard EKF.
Starting Page	1176
Ending Page	1181
File Size	134066
Page Count	6
File Format	PDF
ISBN	9781467313971
e-ISBN	9781467313988
DOI	10.1109/WCICA.2012.6358059
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Satellites Mathematical model Vectors Receivers Kalman filters Estimation tightly-coupled GPS/INS SPKF EKF
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Sigma-Point Kalman Filtering for tightly-coupled GPS/INS

Interacting multiple model nonlinear filter design for ultra-tightly coupled integrated navigation

Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

NCO command generator design for the ultra-tightly coupled GPS/INS integrated navigation system method

New Approach for GPS/INS Integrated Navigation

Low-cost INS/GPS with nonlinear filtering methods

Quaternion-based Kalman filtering on INS/GPS

Unscented Kalman filtering for ultra-tightly coupled GPS/INS integration

Sigma-point kalman filtering for tightly coupled gps/ins integration.

Comparison of nonlinear filtering approach in tightly-coupled GPS/INS navigation system

Similar Documents

Sigma-Point Kalman Filtering for tightly-coupled GPS/INS

Interacting multiple model nonlinear filter design for ultra-tightly coupled integrated navigation

Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

NCO command generator design for the ultra-tightly coupled GPS/INS integrated navigation system method

New Approach for GPS/INS Integrated Navigation

Low-cost INS/GPS with nonlinear filtering methods

Quaternion-based Kalman filtering on INS/GPS

Unscented Kalman filtering for ultra-tightly coupled GPS/INS integration

Sigma-point kalman filtering for tightly coupled gps/ins integration.

Comparison of nonlinear filtering approach in tightly-coupled GPS/INS navigation system