Title :
Adaptive Extended Kalman Filtering for SINS/GPS Integrated Navigation Systems
Author :
Hao, Yanling ; Guo, Zhen ; Sun, Feng ; Gao, Wei
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
An improved adaptive extended Kalman filtering algorithm is proposed here to estimate the measurement noise on-line for the SINS/GPS integrated navigation systems. The measurement remnant chi-square method is used to automatically adjust the sliding window basing on the innovation sequence. The experiment result shows that this new approach could improve the accuracy of the integrated navigation system effectively when the measurement noise is unknown.
Keywords :
Global Positioning System; adaptive Kalman filters; inertial navigation; SINS-GPS integrated navigation system; adaptive extended Kalman filtering algorithm; innovation sequence; measurement remnant chi-square method; online measurement noise estimation; sliding window; Adaptive filters; Filtering; Global Positioning System; Kalman filters; Navigation; Noise measurement; Silicon compounds; Technological innovation; Velocity measurement; Working environment noise;
Conference_Titel :
Computational Sciences and Optimization, 2009. CSO 2009. International Joint Conference on
Conference_Location :
Sanya, Hainan
Print_ISBN :
978-0-7695-3605-7
DOI :
10.1109/CSO.2009.429
