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http://dx.doi.org/10.12673/jant.2011.15.4.536

Performance Evaluation of Total-state UKF for Multipath Error in Tightly-coupled GPS/INS Integration  

Yang, Cheol-Kwan (PSKEYSystems. co. Ltd.)
Shim, Duk-Sun (School of Electrical and Electronics and Engineering, Chung-Ang University)
Kee, Chang-Don (Department of Mechanical Engineering, Seoul National University)
Publication Information
Journal of Advanced Navigation Technology / v.15, no.4, 2011 , pp. 536-542 More about this Journal
Abstract
This paper considers the performance of tightly-coupled GPS/INS integration using total-state UKF (Unscented Kalman Filter) for multipath error. In the city canyon there exists large multipath error and it may happen that GPS satellites are seen only three or less. For these situations simulations show that the performance of total-state UKF is better than that of EKF in the presence of multipath error. The total-state UKF shows robust performance for multipath error.
Keywords
GPS/INS tightly-coupled integration; Kalman Filter; EKF; Total-state UKF;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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