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http://dx.doi.org/10.5302/J.ICROS.2007.13.8.817

Performance Investigation of the Unscented Kalman Filter for Ultra-tightly GPS/INS Integration  

Cho, Young-Seok (중앙대학교 전자전기공학부)
Yang, Cheol-Kwan (중앙대학교 전자전기공학부)
Park, Jin-Woo (중앙대학교 전자전기공학부)
Shim, Duk-Sun (중앙대학교 전자전기공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.8, 2007 , pp. 817-823 More about this Journal
Abstract
GPS and INS can be integrated in 3 ways of loose, tight, and ultra-tight configuration. This paper investigates the performance of GPS/INS ultra-tightly integrated system when unscented Kalman filter(UKF) is adopted as well as extended Kalman filter(EKF). Covariance analysis is performed using UFK and EKF for tightly coupled and ultra-tightly coupled systems. Various trajectories such as straight, circle, S-shape, spiral are considered for the simulations of covariance analysis.
Keywords
unscented Kalman filter; positioning; GPS/INS; ultra-tightly integration;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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