Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Investigation of the Unscented Kalman Filter for Ultra-tightly GPS/INS Integration

GPS/INS 초강결합 기법에 대한 UKF의 성능분석

  • 조영석 (중앙대학교 전자전기공학부) ;
  • 양철관 (중앙대학교 전자전기공학부) ;
  • 박진우 (중앙대학교 전자전기공학부) ;
  • 심덕선 (중앙대학교 전자전기공학부)
  • Published : 2007.08.01
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Abstract

GPS and INS can be integrated in 3 ways of loose, tight, and ultra-tight configuration. This paper investigates the performance of GPS/INS ultra-tightly integrated system when unscented Kalman filter(UKF) is adopted as well as extended Kalman filter(EKF). Covariance analysis is performed using UFK and EKF for tightly coupled and ultra-tightly coupled systems. Various trajectories such as straight, circle, S-shape, spiral are considered for the simulations of covariance analysis.

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References

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