제어로봇시스템학회:학술대회논문집
- 1988.10a
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- Pages.633-638
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- 1988
Design and performance analysis of a zero-velocity update Kalman filter for SDINS
SDINS의 영속도 보정 칼만필터 설계
Abstract
In this paper, a zero-velocity update technique to improve navigation accuracy of a SDINS(Strapdown Inertial Navigation System) has been studied. An indirect feedback Kalman filter which includes SDINS error equations based on a quaternion between body-fixed frame and local level navigation frame is employed for processing zero-velocity updates in an on-board navigation filter. Simulation results for land-mobile vehicle show that the zerovelocity update technique make a significant contribution to improving SDINS performance without any external aids.
Keywords