Proceedings ArticleDOI
IMM-UKF based land-vehicle navigation with low-cost GPS/INS
Huaming Qian,Di An,Quanxi Xia +2 more
- pp 2031-2035
TLDR
Simulations show that compared with the conventional Kalman filtering approach, the IMM-UKF algorithm is more stable and effective, thus improving the convergence speed and accuracy.Citations
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Journal ArticleDOI
Huber’s M-Estimation-Based Process Uncertainty Robust Filter for Integrated INS/GPS
TL;DR: In this paper, Huber's M-estimation methodology is investigated to suppress the process uncertainty, founded on the cascaded form of the Mestimation-based Kalman filter.
Journal ArticleDOI
A Hybrid IMM Based INS/DVL Integration Solution for Underwater Vehicles
TL;DR: Results indicate that the proposed HIMM-aided INS/DVL integration solution shows superiority than the traditional IMM method when the observation noises and outliers exist and can successfully bridge the DVL's bottom-track outages.
Journal ArticleDOI
A New Process Uncertainty Robust Student’s t Based Kalman Filter for SINS/GPS Integration
Yulong Huang,Yonggang Zhang +1 more
TL;DR: Experimental results illustrate that the proposed process uncertainty robust Student’s t-based Kalman filter has significantly better robustness for the suppression of the process uncertainty but slightly higher computational complexity than the existing state-of-the-art methods.
Journal ArticleDOI
An adaptive cubature Kalman filter algorithm for inertial and land-based navigation system
TL;DR: A cubature Kalman filter algorithm based on maximum a posterior estimation and fading factor has been proposed, and the fuzzy control theory is used to make it better to track the time-varying noise characteristics.
Journal ArticleDOI
A New Robust Kalman Filter for SINS/DVL Integrated Navigation System
TL;DR: The experimental results illustrate that the proposed algorithm has better robustness and navigation accuracy to deal with process uncertainty and measurement outliers than existing state-of-the-art algorithms.
References
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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.
Proceedings ArticleDOI
A comparison of unscented and extended Kalman filtering for estimating quaternion motion
TL;DR: An empirical study comparing the performance of unscented and extended Kalman filtering for improving human head and hand tracking, represented with quaternions, which are critical for correct viewing perspectives in virtual reality.
Journal ArticleDOI
IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS
TL;DR: An interactive multiple model (IMM)-based method for predicting lane changes in highways using a set of low-cost Global Positioning System/inertial measurement unit (GPS/IMU) sensors and an odometry captor for collecting velocity measurements is proposed.
Proceedings ArticleDOI
Low cost SINS/GPS integration for land vehicle navigation
TL;DR: Although GPS and current low cost IMU integration cannot improve the absolute positioning accuracy, it has a high data update rate and can give motion information by SINS only when GPS is not available for a short time, such as in heavily forested areas, in urban centers, in buildings or underground.
Proceedings ArticleDOI
EM-IMM based land-vehicle navigation with GPS/INS
Dongliang Huang,Henry Leung +1 more
TL;DR: An expectation-maximization (EM) based interacting multiple model (IMM) method, namely, EM-IMM algorithm, to jointly identify the unknown parameters and to estimate the position information is proposed.
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