UKF Based filters in INS/GPS integrated navigation systems: Novel application results
Junmo Xu, Yuan-wei, Jing, Lian-dong, Shi, Saso A. Gelev, Georgi Marko Dimirovski · Goce Delchev University Repository (Goce Delčev University of Štip) · 2007
The filtering problem in the INS/GPS integrated navigation system is investigated in this study. Firstly, the nonlinear model of the INS/GPS integrated navigation system is proposed. Then the applications of the EKF, the UKF and the modified adaptive UKF are put in practice based on the model. A sample set of computer simulation results for the three filter algorithms, obtained by using MATLAB platform, are given to illustrate the effectiveness of the proposed algorithm with regard to the convergence rate and the estimation precision. Copyright © 2007 IFAC Keywords: Adaptive signal processing, integrated navigation system, INS/GPS, trace tracking, unscented Kalman filter, nonlinear control systems