Title :
Federated Kalman filter and its application to GPS/DR integrated navigation system
Author :
Zhao, Zhonghua ; Zhen, Jiujun
Author_Institution :
Coll. of Appl. Math., Nanjing Univ. of Finance & Econ., Nanjing, China
Abstract :
For the features of GPS / DR integrated navigation system, a federated Kalman filter algorithm is presented. The structure of the federated filter follows the principle of information distribution with the global optimality. The algorithm can improve the system fault tolerance and the stability of numerical calculation, and reduce the amount of information transfer and computation. The theoretical analysis and the computer simulation results show that the federated filter can greatly improve the positioning accuracy and fault-tolerance ability of the GPS/DR integration system.
Keywords :
Global Positioning System; Kalman filters; fault tolerance; numerical stability; GPS-DR integrated navigation system; fault tolerance; federated Kalman filter; information distribution; information transfer; numerical calculation stability; positioning accuracy; Acceleration; Global Positioning System; GPS/DR integrated navigation system; federated Kalman filter; information fusion;
Conference_Titel :
Cross Strait Quad-Regional Radio Science and Wireless Technology Conference (CSQRWC), 2011
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-9792-8
DOI :
10.1109/CSQRWC.2011.6037047