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