Research on data fusion for SINS/GPS/ magnetometer integrated navigation based on modified CDKF

Author

Hao, Yanling ; Zhang, Zhaoyou ; Xia, Quanxi

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

Volume

2

fYear

2010

fDate

10-12 Dec. 2010

Firstpage

1215

Lastpage

1219

Abstract

This paper is concerned with the problem of information fusion for the integration of an strapdown inertial navigation system (SINS), Global Positioning System (GPS) and magnetometer. A classic nonlinear error model of SINS was reviewed. To preserve the nonlinear nature of the model, the central difference Kalman filter (CDKF) is applied to estimate the state error. And in order to reduce the computation complexity, a modified CDKF is derived. Two numerical simulations were carried out , and the experimental results confirm the validity of the nonlinear model and superior performance of the modified CDKF.

Keywords

Global Positioning System; Kalman filters; computational complexity; magnetometers; sensor fusion; GPS; Global Positioning System; SINS; central difference Kalman filter; computation complexity; data fusion; magnetometer integrated navigation; nonlinear model; state error estimation; Global Positioning System; Magnetometers; Numerical models; Silicon compounds; CDKF; Fusion; GPS; Magnetometer; SINS;

fLanguage

English

Publisher

ieee

Conference_Titel

Progress in Informatics and Computing (PIC), 2010 IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-6788-4

Type

conf

DOI

10.1109/PIC.2010.5687970

Filename

5687970