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논문 상세정보

Abstract

This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.

참고문헌 (17)

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이 논문을 인용한 문헌 (14)

  1. Kim Gwang-Jin ; Park Chan-Guk 2006. "" 제어·자동화·시스템공학회지 = ICASE magazine, 12(3): 34~38 
  2. Cho, Seong-Yun 2007. "IIR(SPKF)/FIR(MRHKF Filter) Fusion Filter and Its Performance Analysis" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 13(12): 1230~1242 
  3. Park, Mun-Soo ; Hong, Suk-Kyo 2007. "Indirect Kalman Filter based Sensor Fusion for Error Compensation of Low-Cost Inertial Sensors and Its Application to Attitude and Position Determination of Small Flying robot" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 13(7): 637~648 
  4. Cho, Young-Seok ; Yang, Cheol-Kwan ; Park, Jin-Woo ; Shim, Duk-Sun 2007. "Performance Investigation of the Unscented Kalman Filter for Ultra-tightly GPS/INS Integration" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 13(8): 817~823 
  5. Cho, Seong-Yun 2008. "Observability Analysis and Multi-Dimensional Filter Design of the INS/GPS Integrated System for Land Vehicles" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 14(7): 702~710 
  6. Kwon, Ji-Wook ; Park, Mun-Soo ; Kim, Tae-Un ; Chwa, Dong-Kyoung ; Hong, Suk-Kyo 2008. "Localization of Outdoor Wheeled Mobile Robots using Indirect Kalman Filter Based Sensor fusion" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 14(8): 800~808 
  7. Lee, Won-Jin ; Kwon, Jay-Hyoun ; Lee, Jong-Ki ; Han, Joong-Hee 2009. "GPS/INS Integration and Preliminary Test of GPS/MEMS IMU for Real-time Aerial Monitoring System" 한국측량학회지 = Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, 27(2): 225~234 
  8. Seo, Won-Kyo ; Lee, Jang-Myung 2011. "Precise Outdoor Localization of a GPS-INS Integration System Using Discrete Wavelet Transforms and Unscented Particle Filter" 電子工學會論文誌. Journal of the Institute of Electronics Engineers of Korea. SC, 시스템 및 제어, 48(6): 82~90 
  9. Yang, Cheol-Kwan ; Shim, Duk-Sun ; Kee, Chang-Don 2011. "Performance Evaluation of Total-state UKF for Multipath Error in Tightly-coupled GPS/INS Integration" 한국항행학회논문지 = Journal of advanced navigation technology, 15(4): 536~542 
  10. Lee, Sun-Min ; Yoo, Young-Min ; Lee, Won-Hee ; Lee, Dal-Ho ; Park, Chan-Gook 2012. "Performance Improvement of TRN Batch Processing Using the Slope Profile" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 18(4): 384~390 
  11. Yoon, Ba-Da ; Yoon, Ha-Neul ; Choi, Sung-He ; Lee, Jang-Myung 2013. "Estimated Position of Sea-Surface Beacon Using DWT/UKF" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(4): 341~348 
  12. Kim, Ki-Jung ; Kim, Yoon-Ki ; Choi, Seung-Hwan ; Lee, Jang-Myung 2013. "Outdoor Localization for Returning of Quad-rotor using Cell Divide Algorithm and Extended Kalman Filter" 전기전자학회논문지 = Journal of IKEEE, 17(4): 440~445 
  13. 2014. "" 한국측량학회지 = Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, 32(6): 599~606 
  14. Yu, Haesung ; Choi, Sang Wook ; Lee, Sang Jeong 2014. "Nonlinear Filtering Approaches to In-flight Alignment of SDINS with Large Initial Attitude Error" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 20(4): 468~473 

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