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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Modified UKF Considering Real-Time Implementation of the Multi-Rate INS/GPS Integrated Navigation System

다중속도 INS/GPS 결합항법시스템의 실시간 구현을 고려한 수정된 UKF

  • 조성윤 (한국전자통신연구원 자동차인터랙션기술연구팀) ;
  • 문흐줄 (과학기술연합대학원대학교 이동통신 및 디지털방송 공학) ;
  • 김경호 (한국전자통신연구원 자동차인터랙션기술연구팀)
  • Received : 2012.12.03
  • Accepted : 2012.12.31
  • Published : 2013.02.01
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Abstract

UKF (Unscented Kalman Filter) has been used in the nonlinear systems without initial accurate state estimates instead of EKF (Extended Kalman Filter) of the last decade because the UKF has robustness to the large initial estimation error. In the multirate integrated system such as INS (Inertial Navigation System)/GPS (Global Positioning System) integrated navigation system, however, it is difficult to implement the UKF based navigation algorithm in the mid-grade micro-processor due to the large computational burden. To overcome this problem, this paper proposes a MUKF (Modified UKF) that has a reduced computation burden using the basic idea that the change of the provability distribution for the state variables between measurement updates is small in the multi-rate INS/GPS integrated navigation filter. The performance of the proposed MUKF is verified by numerical simulations.

Keywords

References

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