Journal of the Korean Association of Geographic Information Studies (한국지리정보학회지)

The Korean Association of Geographic Information Studies (한국지리정보학회)
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The Unscented Kalman Filter Based Backward Filters for the Precise INS/GPS System

정밀 INS/GPS시스템을 위한 언센티드 칼만 필터 기반의 역방향 필터연구

  • Kwon, Jay-Hyoun (Dept. of Geoinformatics, The University of Seoul) ;
  • Lee, Jong-Ki (Civil & Environmental Engineering & Geodetic Science, The Ohio State University) ;
  • Lee, Ji-Sun (Dept. of Geoinformatics, The University of Seoul)
  • 권재현 (서울시립대학교 공간정보공학과) ;
  • 이종기 (오하이오주립대학교 토목환경공학 및 측지학과) ;
  • 이지선 (서울시립대학교 공간정보공학과)
  • Received : 2010.05.10
  • Accepted : 2010.06.24
  • Published : 2010.06.30
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Abstract

Unscented Kalman filter based backward filter is derived and the positions from extended Kalman filter, unscented Kalman filter, and extended Kalman smoother are compared and analyzed through a simulation test. Considering the poor GPS signal reception, the simulation is performed under the assumption of only the start and end points of the trajectory, composed of 4 curves and 5 straight sections in the area of $40m{\times}40m $, are known. The test shows that the smoothers generate much better positioning results of 8~9m improvement compared to those from the forward filters. For the comparison between the smoothers, the analysis is performed separately for the curves and straight segments. In both cases, the unscented Kalman smoother generates better positioning error; 10cm and 23cm improved positioning results in straight segment and curves, respectively.

언센티드 칼만 필터 기반의 역방향 필터를 유도하고 시뮬레이션 테스트를 통하여 확장 칼만 필터, 언센티드 칼만 필터, 그리고 확장 칼만 스무더로부터의 위치결과와 비교 분석하였다. 시뮬레이션은 GPS의 수신환경이 극단적으로 좋지 않을 경우를 고려하여 $40m{\times}40m $ 의 공간에서 4개의 곡선 그리고 5개의 직선구간으로 이루어진 궤적에서 시작점과 끝점만을 기지점으로 가정하여 수행하였다. 실험 결과 스무더는 순방향 필터에 비하여 최대 위치 오차값이 약 8~9m 정도 크게 감소하는 결과를 보여주었다. 스무더의 경우 위치오차를 직선구간과 곡선구간으로 나누어 분석하였는데, 언센티드 칼만 스무더가 확장 칼만 스무더에 비하여 직선 구간에서는 최대 10cm, 곡선 구간에서는 최대 23cm 향상된 결과를 나타내었다.

Keywords

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