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Comparison of nonlinear filtering techniques for inertial sensors error identification in INS/GPS integration

Kaviani, S ; Sharif University of Technology | 2018

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  1. Type of Document: Article
  2. DOI: 10.24200/sci.2017.4328
  3. Publisher: Sharif University of Technology , 2018
  4. Abstract:
  5. Nonlinear filtering techniques are used to fuse the Global Positioning System (GPS) with Inertial Navigation System (INS) to provide a robust and reliable navigation system with a performance superior to that of either INS or GPS alone. Prominent nonlinear estimators in this field are Kalman Filters (KF) and Particle Filters (PF). The main objective of this research is the comparative study of the well-established filtering methods of EKF, UKF, and PF based on EKF and UKF in an INS-GPS integrated navigation system. Different features of INS-GPS integrated navigation methods in the state estimation, bias estimation, and bias/scale factor estimation are investigated using these four filtering algorithms. Both ground-vehicle experimental test and flight simulation test have been utilized to evaluate the filters performance. © 2018 Sharif University of Technology. All rights reserved
  6. Keywords:
  7. Extended Kalman Filter (EKF) ; Extended Particle Filter (EPF) ; Unscented Kalman Filter (UKF) ; Unscented Particle Filter (UPF) ; Air navigation ; Distributed computer systems ; Extended Kalman filters ; Flight simulators ; Global positioning system ; Monte Carlo methods ; Nonlinear analysis ; Nonlinear filtering ; Error identification ; Extended particle filters ; Inertial navigation systems (INS) ; Integrated navigation ; Non-linear filtering techniques ; Inertial navigation systems ; Algorithm ; Comparative study ; Experimental study ; GPS ; Ground-based measurement ; Identification method ; Kalman filter ; Navigation ; Nonlinearity ; Performance assessment ; Sensor ; Simulation
  8. Source: Scientia Iranica ; Volume 25, Issue 3B , 2018 , Pages 1281-1295 ; 10263098 (ISSN)
  9. URL: http://scientiairanica.sharif.edu/article_4328.html