Please use this identifier to cite or link to this item:
PIRA download icon_1.1View/Download Full Text
Title: An improved filter for high order integrated GPS/INS based on the U-D factorization
Authors: He, XF
Chen, YQ 
Iz, HB 
Issue Date: 1997
Source: KIS97 : proceedings of the International Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation : Banff, Canada, June 3-6, 1997, p. 257-263
Abstract: In this paper, the U-D factorization-based extended Kalman filter for the 20-state integrated GPS/INS is investigated from the point of engineering realization. The Kalman filter is widely used for integration of GPS/INS, however, due to the model and numerical computation errors, the Kalman filter may diverge in engineering realization. In order to solve this problem, an extended Kalman filter based on the U-D factorization is proposed. Moreover, the high order integrated system suffers from provlem of long computation time, leading to difficulties in real-time applications. An algorithmic approach is developed to improve computational speed.
A complex high dynamics aircraft trajectory is simulated to compare the improvement in the computational speed and the navigation accuracy using the conventional extended Kalman filter (EKF) and the extended Kalman filter based on the U-D factorization (UDEKF). The results indicate that the methods proposed in this paper are very effective overcoming these problems for the high dynamic integrated GPS/INS system.
Keywords: Kalman filter
U-D factorization
Publisher: University of Calgary
Rights: Reproduced with permission of the publisher.
Appears in Collections:Conference Paper

Files in This Item:
File Description SizeFormat 
An_Improved_Filter_for_High_Order_Integrated_GPS_INS_Based_on_the_U-D_Factorization.pdf831.89 kBAdobe PDFView/Open
Open Access Information
Status open access
File Version Version of Record
Show full item record

Page views

Last Week
Last month
Citations as of Jun 4, 2023


Citations as of Jun 4, 2023

Google ScholarTM


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.