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http://dx.doi.org/10.12673/jkoni.2012.16.5.738

Performance Improvement of Azimuth Estimation in Low Cost MEMS IMU based INS/GPS Integrated Navigation System  

Chun, Se-Bum (Satellite Navigation Team, Korea Aerospace Research Institute)
Heo, Moon-Beom (Satellite Navigation Team, Korea Aerospace Research Institute)
Publication Information
Journal of Advanced Navigation Technology / v.16, no.5, 2012 , pp. 738-743 More about this Journal
Abstract
Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.
Keywords
INS; GPS; Locally Linearization Particle Filter;
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