Tightly Coupled INS/GPS Navigation System using the Multi-Filter Fusion Technique

• 발행기관: 한국항해항만학회
• 저자명: Seong Yun Cho Byung Doo Kim Young Su Cho Wan Sik Choi
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2006년도 International Symposium on GPS/GNSS Vol.1, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2006.10.24

영문 초록

For robust INS/GPS navigation system, an efficient multi-filter fusion technique is proposed. In the filtering for nonlinear systems, the representative filter - EKF, and the alternative filters - RHKF filter, SPKF, etc. have individual advantages and weak points. The key concept of the multi-filter fusion is the mergence of the strong points of the filters. This paper fuses the IIR type filter – EKF and the FIR type filter – RHKF filter using the adaptive strategy. The result of the fusion has several advantages over the EKF, and the RHKF filter. The advantages include the robustness to the system uncertainty, temporary unknown bias, and so on. The multi-filter fusion technique is applied to the tightly coupled INS/GPS navigation system and the performance is verified by simulation.

목차

1. Introduction

2. Multi-Filter Fusion Technique

3. Application to Tightly Coupled INS/GPS

4. Simulation and Results

5. Conclusion

키워드

Multi-filter fusion EKF RHKF filter tightly coupled INS/GPS