Optimal nonlinear filtering in GPS/INS integration
Abstract
The application of optimal nonlinear/non-Gaussian filtering to the problem of INS/GPS integration in critical situations is described. This approach is made possible by a new technique called particle filtering, and exhibits superior performance when compared with classical suboptimal techniques such as extended Kalman filtering. Particle filtering theory is introduced and GPS/INS integration simulation results are discussed.
- Publication:
-
IEEE Transactions on Aerospace and Electronic Systems
- Pub Date:
- July 1997
- DOI:
- Bibcode:
- 1997ITAES..33..835C
- Keywords:
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- Global Positioning System;
- Satellite navigation systems;
- Ethics;
- Kalman filters;
- Filtering theory;
- Particle measurements;
- Uninterruptible power systems;
- Inertial navigation;
- Vehicles;
- Weight measurement