Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement in GPS Attitude Determination Using Unscented Kalman Filters

GPS를 이용한 자세결정에서 Unscented Kalman Filter를 이용한 성능 향상

  • 천세범 (건국대학교 차세대혁신기술연구원) ;
  • 이은성 (건국대학교 차세대혁신기술연구원) ;
  • 강태삼 (건국대학교 차세대혁신기술연구원) ;
  • 지규인 (건국대학교 차세대혁신기술연구원) ;
  • 이영재 (건국대학교 차세대혁신기술연구원)
  • Published : 2005.07.01
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Abstract

With precise GPS carrier positioning result, we can get attitude information if GPS antenna has adequate attaching position on the vehicle. In this case, baseline length information can be bandied as an additional measurement or constraint. In this paper, we have proposed a method to improve the attitude accuracy. To overcome nonlinearity of baseline observation model, we analyze attitude estimation result using existing estimation method like a least square method and Kalman filter, and apply a new nonlinear estimation method an unscented Kalman filter Finally we confirm the improvement of attitude estimation result in the case of appling the unscented Kalman filter.

Keywords

References

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