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http://dx.doi.org/10.5302/J.ICROS.2005.11.7.621

Performance Improvement in GPS Attitude Determination Using Unscented Kalman Filters  

Chun Sebum (건국대학교 차세대혁신기술연구원)
Lee Eunsung (건국대학교 차세대혁신기술연구원)
Kang Taesam (건국대학교 차세대혁신기술연구원)
Jee Gyu-In (건국대학교 차세대혁신기술연구원)
Lee Young Jae (건국대학교 차세대혁신기술연구원)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.7, 2005 , pp. 621-626 More about this Journal
Abstract
With precise GPS carrier positioning result, we can get attitude information if GPS antenna has adequate attaching position on the vehicle. In this case, baseline length information can be bandied as an additional measurement or constraint. In this paper, we have proposed a method to improve the attitude accuracy. To overcome nonlinearity of baseline observation model, we analyze attitude estimation result using existing estimation method like a least square method and Kalman filter, and apply a new nonlinear estimation method an unscented Kalman filter Finally we confirm the improvement of attitude estimation result in the case of appling the unscented Kalman filter.
Keywords
GPS; RTK; attitude determination; unscented transform; unscented Kalman filter;
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