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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Performance Comparison of Extended and Unscented Kalman Filters for INS/GPS Tightly Coupled Approach

INS/GPS 강결합 기법에 대한 EKF 와 UKF의 성능 비교

  • 김광진 (서울대학교 기계항공공학부/항공우주신기술연구소) ;
  • 유명종 (국방과학연구소 기술연구본부) ;
  • 박영범 (국방과학연구소 기술연구본부) ;
  • 박찬국 (서울대학교 기계항공공학부/항공우주신기술연구소)
  • Published : 2006.07.01
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Abstract

This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.

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