Study on Information Fusion Algorithm in Tightly Coupled GPS/SINS Integrated Navigation System

Author

Chen, Shuai ; Xue, Xiaozhong ; Du, Guoping ; Bo, Yuming

Author_Institution

Dept. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China

fYear

2010

fDate

23-25 Sept. 2010

Firstpage

1

Lastpage

4

Abstract

The tightly coupled GPS/SINS integrated navigation system is studied in this paper. In order to meet the requirement of precision and stability, a nonlinear error model of SINS based on additive quaternion is established and a kind of SRUKF(Square-Root Unscented Kalman Filter) algorithm is designed. Compared with EKF, The SRUKF not only improves the location precision greatly but also avoids the calculating burden of Jacobin matrices. Simulation results show the feasibility and effectiveness of the proposed algorithm in tightly coupled GPS/SINS integrated navigation system.

Keywords

Global Positioning System; Kalman filters; navigation; GPS; SINS; global position system; information fusion algorithm; integrated navigation system; square-root unscented Kalman filter algorithm; strapdown inertial navigation system; Equations; Filtering theory; Global Positioning System; Kalman filters; Mathematical model; Silicon compounds;

fLanguage

English

Publisher

ieee

Conference_Titel

Wireless Communications Networking and Mobile Computing (WiCOM), 2010 6th International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-3708-5

Electronic_ISBN

978-1-4244-3709-2

Type

conf

DOI

10.1109/WICOM.2010.5600240

Filename

5600240