Browse > Article
http://dx.doi.org/10.12673/jant.2019.23.3.221

A Design of the IMM Filter for Improving Position Error of the INS / GPS Integrated System  

Baek, Seung-jun (Agency for Defense Development)
Publication Information
Journal of Advanced Navigation Technology / v.23, no.3, 2019 , pp. 221-227 More about this Journal
Abstract
In this paper, interacting multiple model (IMM) filter was designed that guarantees a stable navigation performance even in the unstable satellite navigation position. In order to design IMM filter in INS / GPS integrated navigation system, sub filter of the IMM filter is defined as Kalman filter. In the IMM filter configuration, two subfilters are determined. Each Kalman filter defines the six-teenth state composed of position, velocity, attitude, and sensor error from the INS error equation and the states additionally derived in case of the coloured measurement noise. In order to verify the performance of the proposed filter, we compared the performance how the filter works in the presence of arbitrary error in GPS navigation solution. The Monte Carlo simulation was performed 100 times and the results were compared with the root mean square(RMS). The results show that the proposed method is stable against errors and show fast convergence.
Keywords
Global positioning system; Inertial navigation system; Interacting multiple model; Integrated navigation system; Monte Carlo simulation;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 D. B. Park, D. H. Shin, S. H. Oh, and H. S. Kim, "Development of a INS/GPS system for precision GPS guieded bomb," IEEE Aerospace and Electronic Systems Magazine, Vol. 27, No. 3, pp. 31-39, 2012.   DOI
2 S. H. Oh, D. H. Hwang, C. S. Park, and S. J. Lee,"Attitude determination GPS/INS integrated navigation system with FDI algorithm for a UAV," Journal of Mechanical Science and Technology, Vol. 19, No. 3, pp. 1529-1543, Aug.2005.   DOI
3 S. J. Lee, C. Naumenko, and J. C. Kim," INS/GPS integrated smoothing algorithm for synthetic aperture radar motin compensation using an extended Kalman filter with position damping loop," International Journal of Aeronautical and Space Sciences , Vol. 18, No. 1, pp. 118-128, Mar.2017.   DOI
4 S. Y. Cho, M. Enkhtur, and K. H. Kim," Modified UKF considering real-time implementation of the multi-rate INS/GPS integrated navigation system," Journal of Institute of Control. Robotics and Systems, Vol. 19, No. 2, pp. 87-94, 2017.   DOI
5 H. S. Kim, S. J. Baek, and Y. C. Cho, "Improving INS/GPS integrated system position error using dillution of precision," Journal of Advanced Navigation Technology, Vol. 21, No. 1, pp. 139-145, Feb. 2017.
6 T. L. Song, "Filtering theory" Journal of institute of Control, Robotics and Systems, Vol. 9, No. 6 pp. 413-419, June. 2003.   DOI
7 Oleg S. Salychev, Applied Inertial Navigation: Problem and Solutions, Moscow, Russia: BMSTU Press Pub., 2004.