Proceedings ArticleDOI
Comparison of Extended and Sigma-Point Kalman Filters for Tightly Coupled GPS/INS Integration
Jan Wendel,Andreas Maier,Jürgen Metzger,Gert F. Trommer +3 more
- pp 2041
TLDR
The performance of EKF and SPKF applied to tightly-coupled GPS/INS integration is compared in numerical simulations and it is found that except in specic situations without practical relevance, both approaches have an identical performance.Abstract:
This paper adresses the fusion of GPS measurements and inertial sensor data in tightly coupled GPS/INS navigation systems. Usually, an extended Kalman lter (EKF) is applied for this task. However, as the system dynamic model as well as the pseudorange and deltarange measurement models are nonlinear, the EKF is a sub-optimal choice from a theoretical point of view, as it approximates the propagation of mean and covariance of Gaussian random vectors through these nonlinear models by a linear transformation, which is accurate to rst-order only. The sigma-point Kalman lter (SPKF) family of algorithms achieve an accurate approximation to at least second-order. Therefore, the performance of EKF and SPKF applied to tightly-coupled GPS/INS integration is compared in numerical simulations. It is found that except in specic situations without practical relevance, both approaches oer an identical performance. This indicates that the SPKF may be an option considering the design of new systems, but a modication of existing EKF-based GPS/INS systems is neither required, nor appropriate to improve their performance.read more
Citations
More filters
Journal ArticleDOI
Aerodynamic Parameter Estimation from Flight Data Applying Extended and Unscented Kalman Filter
TL;DR: In this article, the authors compare the performance of three recursive parameter estimation algorithms for aerodynamic parameter estimation of two aircraft from real flight data, including Extended Kalman Filter (EKF), unscented Kalman filter (UKF), and augmented version of the UKF.
Proceedings ArticleDOI
Aerodynamic parameter estimation from flight data applying extended and unscented Kalman filter
TL;DR: In this article, the authors compare the performance of three recursive parameter estimation algorithms for aerodynamic parameter estimation of two aircraft from real flight data, including Extended Kalman Filter (EKF), unscented Kalman filter (UKF), and augmented version of the UKF.
Journal ArticleDOI
Performance evaluation of Cubature Kalman filter in a GPS/IMU tightly-coupled navigation system
TL;DR: In this paper, a nonlinear filtering method Cubature Kalman filter (CKF) is introduced and analysed through Taylor expansion showing the CKF's capability in capturing higher-order terms of nonlinear system and indicates that it benefits only when implemented with nonlinear systems.
Journal ArticleDOI
Autonomous flight in GPS-denied environments using monocular vision and inertial sensors
TL;DR: The next generation of satellites will be able to communicate with each other in real time, and the design of the spacecraft will allow for real-time communications between the spacecraft and the Earth.
Journal ArticleDOI
State transformation extended Kalman filter for GPS/SINS tightly coupled integration
TL;DR: The proposed state transformation extended Kalman filter (ST-EKF) mechanization, with a new converted velocity error model for the SINS, is proposed, which can also be used to solve the inconsistency problem.
References
More filters
Journal ArticleDOI
Unscented filtering and nonlinear estimation
Simon Julier,Jeffrey Uhlmann +1 more
TL;DR: The motivation, development, use, and implications of the UT are reviewed, which show it to be more accurate, easier to implement, and uses the same order of calculations as linearization.
Book
introduction to random signals and applied kalman filtering
TL;DR: In this paper, the Discrete Kalman Filter (DFL) is used for smoothing and prediction linearization in the Global Positioning System (GPS) and a case study is presented.
Book
Strapdown inertial navigation technology
David Titterton,John Weston +1 more
TL;DR: In this paper, the physical principles of inertial navigation, the associated growth of errors and their compensation, and their application in a broad range of applications are discussed, drawing current technological developments and providing an indication of potential future trends.
Journal ArticleDOI
The global positioning system
TL;DR: In this article, the authors provide a top-level perspective on how the global positioning system works, how its services are used, and delves into the most important technical and geo-political factors affecting its long-term availability in an international setting.