Title :
Application on kalman filtering of SINS/GPS navigation system
Author :
PeiPei, Yang ; Qing, Li
Author_Institution :
Inst. of Intell. Control, Univ. of Beijing Inf. Sci. & Technol., Beijing, China
Abstract :
The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.
Keywords :
Global Positioning System; Kalman filters; parameter estimation; Global Positioning System; Kalman filtering; SINS/GPS navigation system; navigation parameters; parameter error estimation; Estimation error; Filtering algorithms; Global Positioning System; Information filtering; Information filters; Kalman filters; Navigation; Position measurement; Silicon compounds; Velocity measurement; SINS/GPS; kalman filtering; output correction; shallow combination;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274282
