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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improving the Performance of DR/GPS Integrated System For Land Navigation Using Sigma Point Based RHKF Filter

시그마 포인트 기반 RHKF 필터를 사용한 지상합법용 DR/GPS 결합시스템의 성능 향상

  • 최완식 (한국전자통신연구원 텔레매틱스연구단) ;
  • 조성윤 (한국전자통신연구원 텔레매틱스연구단)
  • Published : 2006.02.01
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Abstract

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

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References

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