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Development of Integrated Navigation Algorithm Based on the Integration of INS, GPS, Altimeter Using Particle Filters

Kaviani, Samira | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46217 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan; Alasti, Aria
  7. Abstract:
  8. Over the past years, several approaches have been used for navigation. Along with the advancement of technology, complicated navigation systems such as inertial navigation system and global positioning system have been employed. These navigation systems have their own strengths and weaknesses. To improve overall system performance they are integrated together as one system.
    Presented research aims at developing the integrated navigation system through particle filters. In this study, after a brief overview of the data integration techniques, several techniques which are more common and have better performance than others are examined. This contribution concentrates on filtering methods such as EPF, UPF, Mixture-PF, EKF, and UKF.
    The other goal of this research is to develop the navigation model containing enough state variables so that the errors in the inertial sensors can be estimated according to the presented error model in Chapter III. Moreover, the estimate error decrement due to bias and scale factor identification is evaluated by comparing 9-variable, 15-variable and 21-variable models.
  9. Keywords:
  10. Intertial Navigation ; Global Position System (GPS) ; Altimeter ; Intertial Navigation ; Extended Kalman Filter ; Unscented Kalman Filter ; Extended Particle Filter ; Unscented Particle Filter

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