• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.174-185
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• 2006

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

• Proceedings of the KIPE Conference
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• 2011.07a
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• pp.228-229
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• 2011

본 논문은 SPKF(Sigma-point Kalman Filter)를 이용한 리튬 폴리머 배터리(LiPB)의 충전 상태(SOC: State of Charge) 추정 방법을 제안한다. 배터리 모델은 단순화된 테브난 등가회로 모델과 Runtime 모델이 결합되어 있고, Runtime 모델의 양단 전압을 이용하여 SOC를 추정한다. 제안된 알고리즘은 시뮬레이션을 통해 그 타당성이 검증된다.