Divided Difference Filtering and Its Application in Navigation

摘要：

The typical method for INS/GPS integrated navigation using measurements of range or pseudorange is by linearizing the measurements in an extended Kalman filter (EKF). However, the modeling errors of the EKF will cause the bias and divergence problems especially under the situation that the low quality inertial devices are included. To solve this problem, a divided difference filter (DDF) approach is proposed. Compared with EKF ，it has high filtering accuracy ，numerical stability and less computational cost. Simulation results are provided to demonstrate the validity of the proposed approach further.

关键词： Nonlinear filtering Extended Kalman filters Integrated Navigation Interpolation algorithm

作者: QU Congshan XU Hualong TAN Ying

作者单位: Xian Research Inst. of Hi-tech Hongqing Town, Xian, P.R.China 710025

会议类型: 国际会议

会议名称: 第七届国际测试技术研讨会

会议地点: 北京

会议语种:英文

在线出版日期: 2007-08-05（万方平台首次上网日期，不代表论文的发表时间）