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http://dx.doi.org/10.5302/J.ICROS.2006.12.8.780

A Performance Comparison of Extended and Unscented Kalman Filters for INS/GPS Tightly Coupled Approach  

Kim Kwang-Jin (서울대학교 기계항공공학부/항공우주신기술연구소)
Yu Myeong-Jong (국방과학연구소 기술연구본부)
Park Young-Bum (국방과학연구소 기술연구본부)
Park Chan-Gook (서울대학교 기계항공공학부/항공우주신기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.8, 2006 , pp. 780-788 More about this Journal
Abstract
This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.
Keywords
INS; GPS; tightly coupled approach; kalman filter; unscented transform;
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Times Cited By KSCI : 1  (Citation Analysis)
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