Decoupled Kalman filter based on SINS/GPS integrated navigation

被引：0
作者：
Yang Weixiu [1 ]
Wang Liang [1 ]
Wang Xiaoyun [1 ]
Chen Songyue [1 ]
机构：
[1] Beihang Univ, Sch Automat & Elect Engn, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF 2017 13TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONIC MEASUREMENT & INSTRUMENTS (ICEMI), VOL 1 | 2017年
关键词：
UAV; integrated navigation; Kalman filter; decoupled kalman filter;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The Kalman Filter of Strapdown Inertial Navigation System/Global Positioning System (SINS/GPS) Integration Navigation that overcomes each individual system's shortcomings and is widely used in UAV systems. The computation time depends mainly on the filter dimension n, the low dimension benefit real time but influence the system accuracy. However, with dimensions increasing, the system computation will become complicity and insecure. The decoupled Kalman filter can obtain high precision with real-time working performance by decoupling error state. The detailed process of decoupling is described in this paper. And comparison analysis of common filter and decoupled one will be explained from both theoretical and practical aspects. The simulation results show the feasibility of the new method which solves above problems and reduces memory space to make UAV system possess extensible functionality. So it can be widely used in UAV system to further improve it's overall performance.
引用
收藏
页码：400 / 405
页数：6
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