Autonomous integrated navigation for mobile robot based on federated UKF algorithm
Shi Xingxi · Computer Engineering and Applications Journal · 2007
The integrated navigation technology can contribute greatly to solving land mobile robot autonomous navigation,in which the GPS/DR is one typical system.In view of the non-linear characteristic of the GPS/DR state equations,an improved federated UKF based on Unscented Kalman Filtering(UKF) and distributed information fusion technology is designed and used in the navigation system.Numerical simulation results indicated that,federated UKF has the better filter precision compared to federated EKF,simultaneously has a higher stability and the fault tolerance,is an ideal nonlinear filter method for GPS/DR navigation.