GPS/SINS Navigation Data Fusion Using Quaternion Model and Unscented Kalman Filter

Author

Gul, Farid ; Jiancheng, Fang ; Gaho, Anwar Ali

Author_Institution

Sch. of Instrumentation & Optoelectronics Eng., Beijing Univ. of Aeronaut. & Astronaut.

fYear

2006

fDate

25-28 June 2006

Firstpage

1854

Lastpage

1859

Abstract

A generic Strapdown Inertial Navigation System (SINS) error propagation model is presented. Quaternion is used for relative attitude representation and attitude error interpretation. The resultant error propagation model is nonlinear and does not rely on small misalignment angles assumption. Based on this model, SINS algorithm is developed for en-route alignment. Global Positioning System (GPS) is used as external sensor to confine the SINS error. Unscented Kalman filter (UKF) is used for the nonlinear data fusion. Numerical simulation reveals validity of the model and superior performance of UKF

Keywords

Global Positioning System; Kalman filters; inertial navigation; sensor fusion; GPS/SINS navigation data fusion; Global Positioning System; attitude error interpretation; error propagation model; generic Strapdown Inertial Navigation System; nonlinear data fusion; quaternion model; relative attitude representation; unscented Kalman filter; Acceleration; Dead reckoning; Filters; Frequency; Global Positioning System; Inertial navigation; Quaternions; Sensor systems; Silicon compounds; Vehicles; GPS; INS; Unscented Kalman filter; integrated navigation system; quaternion;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257517

Filename

4026376