The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Estimation of Attitude and Position of Moving Objects Using Multi-filtered Inertial Navigation System

이동하는 물체의 자세와 위치를 추정하기 위한 다중 필터 관성 항법 시스템

  • 황서영 (부산대 공대 전자전기공학과) ;
  • 이장명 (부산대 전자전기공학과)
  • Received : 2011.09.21
  • Accepted : 2011.10.25
  • Published : 2011.12.01
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Abstract

This paper proposes a new multi-filtered inertial navigation system to estimate the attitude and position of moving objects. This system has two states, the one is attitude state and the other is position/velocity state. For compensating IMU sensor errors, each of the two states uses a different filter: the attitude state uses the EKF and the position state uses the UPF. The fast and precise characteristics of the EKF have been properly utilized for the attitude estimation, while superior dynamic characteristics of the UPF have been fully adopted for the position estimation. The combination of these two filters in an inertial navigation system improves the system performance to be faster and more accurate. Experimental results demonstrate the superiority of this approach comparing to the conventional ones.

Keywords

References

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