Title :
A New Federated Filtering Method for Integrated Navigation of Vehicles
Author :
Zhang, Hongmei ; Liu, Sheng ; Du, Chunyang
Author_Institution :
Univ. Harbin, Harbin
Abstract :
According to the characteristic of integrated navigation systems of GPS/DR, a new federated filter is proposed, in which the sub-filters are composed by a Kalman filter and an unscented Kalman filter. The information allocation factor is adopted as a form of minimum mean square error (MMSE) base on observation error. By this scheme, not only the output information is fused optimally, but also the computing load and difficulty decrease, and the reliability and error tolerance are improved. The simulation results show that, the position precision is comparative as that of the UKF, and is higher than that of the EKF.
Keywords :
Global Positioning System; Kalman filters; mean square error methods; path planning; road vehicles; Global Positioning System; dead reckoning; error tolerance; federated filtering; information allocation factor; integrated vehicle navigation; minimum mean square error; reliability; unscented Kalman filter; Automation; Fault tolerant systems; Filtering; Filters; Global Positioning System; Motion planning; Satellite navigation systems; Sensor systems; State estimation; Vehicles; Federated filter; Fusion; Integrated navigation; Unscented Kalman filter (UKF);
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303668
