An Unscented Kalman Filter Algorithm for MEMS-Based IMU/GPS Integration with Non-holonomic Constraint

摘要：

With the decreasing cost of inertial measurement units (IMUs), the use of integrated GPS/INS (Global Positioning System/Inertial Navigation System) becomes more feasible for land navigation. In order to improve the accuracy of GPS/INS system, this paper develops a model for estimating all of the biases and states by using non-holonomic constraints. Then an unscented Kalman filter is proposed to solve the nonlinear state estimation problem of the GPS/INS. Finally, the result shows that a good performance is achieved with a tractable computational load.

关键词： GPS INS Unscented Kalman Filter

作者: Wu Qiuping Han Fengtian

作者单位: Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China

会议类型: 国际会议

会议名称: The Second International Symposium on Test Automation & Instrumentation(ISTAI2008)(第二届国际自动化测试与仪器仪表学术会议)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-11-01（万方平台首次上网日期，不代表论文的发表时间）