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http://dx.doi.org/10.5573/ieek.2013.50.6.267

A Study on the GPS/INS Integration and GPS Compensation Algorithm Based on the Particle Filter  

Jeong, Jae Young (University of Ulsan)
Kim, Han Sil (University of Ulsan)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.6, 2013 , pp. 267-275 More about this Journal
Abstract
EKF has been widely used for GPS/INS integration as standard method but EKF has one well-known drawback. if the errors are not within the bounded region, the filter may be divergent. The particle filter has the advantage of the nonlinear and non-gaussian system. This paper proposes a method for compensating the GPS position errors based on the particle filter and presents loosely-coupled GPS/INS integration using proposed algorithm. We used GPS position pattern with particle filter and added attitude kalman filter for improving attitude accuracy. To verify the performance, the proposed method is compared with high cost GPS as reference. In the experimental result, we verified that the accuracy and robust were well improved by the proposed method filter effectively and robustness than by original loosely-coupled integration when vehicle turns at corner.
Keywords
Particle filter; GPS(Global Positioning System); INS(Inertial Navigation System); Position compensation; Sensor fusion;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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