Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering

Adaptive Extended Kalman Filter in SINS/GPS Tightly Coupled Navigation System

Authors
Zhongyuan Zang, Lingjuan Miao, Yanbing Guo
Corresponding Author
Zhongyuan Zang
Available Online April 2015.
DOI
10.2991/isrme-15.2015.372How to use a DOI?
Keywords
SINS/GPS tightly integrated navigation system; GDOP; state noise; measurement noise; adaptive EKF
Abstract

In the practical application, the SINS/GPS tightly integrated navigation system is faced with the situation that state error model is inaccurate or noise statistical characteristics are inconsistent with the reality. However, traditional Extended Kalman Filter (EKF) method can not effectively solve it, causing large filter errors in this system. This paper presents a method of GDOP estimation and adaptive Extended Kalman Filter, which combines satellite positions of ephemeris with the output of corrected SINS position instead of GPS positioning results to calculate GDOP; On this basis, using the GDOP value and innovation realizes the online real-time estimation of measurement noise variance matrix Rk while taking advantage of innovation realizes the online estimation of state noise variance matrix Qk to achieve the adaptive effect and improve navigation accuracy in tightly integrated navigation system.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering
Series
Advances in Intelligent Systems Research
Publication Date
April 2015
ISBN
978-94-62520-59-2
ISSN
1951-6851
DOI
10.2991/isrme-15.2015.372How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Zhongyuan Zang
AU  - Lingjuan Miao
AU  - Yanbing Guo
PY  - 2015/04
DA  - 2015/04
TI  - Adaptive Extended Kalman Filter in SINS/GPS Tightly Coupled Navigation System
BT  - Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering
PB  - Atlantis Press
SP  - 1823
EP  - 1828
SN  - 1951-6851
UR  - https://doi.org/10.2991/isrme-15.2015.372
DO  - 10.2991/isrme-15.2015.372
ID  - Zang2015/04
ER  -