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Design and Performance Analysis of NHC/ZUPT Kalman Filter with Mounting Misalignment Estimation  

Park, Young-Bum (ADD)
Kim, Kap-Jin (ADD)
Park, Jun-Pyo (ADD)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.12, no.5, 2009 , pp. 636-643 More about this Journal
Abstract
NHC means that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. The main error source of NHC is the mounting misalignment which is the difference between the body frame of a land vehicle and the sensor frame of an inertial measurement unit. This paper suggests new NHC algorithm that can reduce position errors by real-time estimation of mounting misalignment. Then NHC/ZUPT integrated land navigation system is designed and its performances are analyzed by simulations with van test data. Simulation results show that the proposed NHC/ZUPT land navigation system improves navigation accuracy regardless of misalignment angle and is very useful when SDINS operates stand-alone for land vehicle navigation with large mounting misalignment.
Keywords
Non Holonomic Constraints; Mounting misalignment; Zero Velocity Update; Land Navigation System;
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  • Reference
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