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GPS/INS 초강결합 기법에 대한 UKF의 성능분석Performance Investigation of the Unscented Kalman Filterfor Ultra-tightly GPS/INS Integration
- Issue Date
- Aug-2007
- Publisher
- 제어·로봇·시스템학회
- Keywords
- unscented Kalman filter; positioning; GPS/INS; ultra-tightly integration
- Citation
- 제어.로봇.시스템학회 논문지, v.13, no.8, pp 817 - 823
- Pages
- 7
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 13
- Number
- 8
- Start Page
- 817
- End Page
- 823
- ISSN
- 1976-5622
- Abstract
- GPS and INS can be integrated in 3 ways of loose, tight, and ultra-tight configuration. This paper investigates the performance of GPS/INS ultra-tightly integrated system when unscented Kalman filter(UKF) is adopted as well as extended Kalman filter(EKF). Covariance analysis is performed using UFK and EKF for tightly coupled and ultra-tightly coupled systems. Various trajectories such as straight, circle, S-shape, spiral are considered for the simulations of covariance analysis.
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