The error caused by linearization in the filtering process is an important factor that decrease the filtering accuracy, and if the error exceeds the allowable range it may result in filter divergence for some highly nonlinear systems. In the GPS/INS system integrated with position and velocity, though the linearization process is eliminated because of its linear model, the navigation accuracy is degraded by the correlation between the system's measurements. So the integration of range was adopted for observation model, which makes use of the original measurements of GPS, so it can improve the navigation accuracy. As this observation model is nonlinear, for the high accuracy requirement of GPS/INS integrated navigation system, the UPF (Unscented Particle Filter) algorithm was introduced to estimate the system states. The UPF is a nonlinear filer which is more suitable for nonlinear systems. The simulation was carried out under the condition of less than four GPS satellites data available, the results of which show that the estimated values with UPF are quite close to real values, and the UPF algorithm has a very good performance when it applied in the GPS/INS integrated navigation.

Date Published: 20 August 2010
PDF: 8 pages
Proc. SPIE 7820, International Conference on Image Processing and Pattern Recognition in Industrial Engineering, 782038 (20 August 2010); doi: 10.1117/12.867204

Published in SPIE Proceedings Vol. 7820:
International Conference on Image Processing and Pattern Recognition in Industrial Engineering
Shaofei Wu; Zhengyu Du; Shaofei Wu; Zhengyu Du; Shaofei Wu; Zhengyu Du, Editor(s)