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Application on kalman filtering of SINS/GPS navigation system

Peipei Yang, Qing Li

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Abstract

The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.

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What this paper is about

The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.

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Available abstract

The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.

Key concepts: Kalman filter, Global Positioning System, GPS/INS, Navigation system, Computer science, Position (finance), Fast Kalman filter, Control theory (sociology)

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