Title :
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
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;
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
DOI :
10.1109/WICOM.2010.5600240
