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http://dx.doi.org/10.5302/J.ICROS.2007.13.7.688

INS/GPS Integration System Using Adaptive Filter with Estimating Measurement Noise Variance  

Yu, Myeong-Jong (국방과학연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.7, 2007 , pp. 688-693 More about this Journal
Abstract
The INS/GPS integration system is designed by employing an adaptive filter that can estimate the measurement noise variance using the residual of the filter. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulation is performed by assuming that GPS information has large position errors. Simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than those with the Extended Kalman Filter.
Keywords
INS/GPS integration system; adaptive filter; measurement noise variance;
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Times Cited By KSCI : 3  (Citation Analysis)
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