An integrated navigation system manager using federated Kalman filtering

2002 ◽  
Author(s):  
S.A. Broatch ◽  
A.J. Henley
Keyword(s):  
Kalman Filtering ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System

Application of Federated Filter to AUV Based on Terrain-Aided SINS

2014 ◽  
Vol 711 ◽  
pp. 338-341 ◽  
Author(s):  
Qi Wang ◽  
Cheng Shan Qian ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filtering ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Filtering Method ◽  
Long Time ◽  
Federated Filtering ◽  
Strapdown Inertial Navigation

To improve the navigation precision and reliability of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Federated Filter (FF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and Federated Filtering method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the Federated Filtering method is able to improve the long-time navigation precision and reliability, relative to the traditional Kalman Filtering method.

Application of Fuzzy Adaptive Kalman Filtering on GPS/INS Integrated Navigation System

2011 ◽  
Vol 317-319 ◽  
pp. 1512-1517
Author(s):  
Ming Wei Liu ◽  
Fen Fen Xiong ◽  
Jin Huang
Keyword(s):  
Kalman Filtering ◽  
Adaptive Filtering ◽  
Navigation System ◽  
Adaptive Controller ◽  
Integrated Navigation ◽  
Noise Levels ◽  
Integrated Navigation System ◽  
Navigation Algorithm ◽  
The Common ◽  
Fuzzy Adaptive

A fuzzy adaptive Kalman filtering navigation algorithm is proposed and further applied to the GPS/INS integrated navigation system in this paper. The common Sage-Husa adaptive filtering algorithm and its drawbacks are elaborated. In order to adjust the Sage-Husa adaptive filter to the optimal state to improve the accuracy of the integrated navigation system, the fuzzy logic adaptive controller is used to adjust the weighting form for the covariance matrix of measurement noise to gradually make it approach to the true noise levels. Simulation results show that the proposed algorithm can not only inhibit the filtering divergence but also improve filtering accuracy.

Kalman filtering for GPS/magnetometer integrated navigation system

2010 ◽  
Vol 45 (11) ◽  
pp. 1350-1357 ◽  
Author(s):  
Hang Guo ◽  
Min Yu ◽  
Chengwu Zou ◽  
Wenwen Huang
Keyword(s):  
Kalman Filtering ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System

A Novel Adaptive UKF and its Application in the SINS/GPS Integrated Navigation

2014 ◽  
Vol 597 ◽  
pp. 521-524
Author(s):  
Yong Li ◽  
She Sheng Gao ◽  
Yi Yang
Keyword(s):  
Nonlinear Systems ◽  
State Estimation ◽  
Kalman Filtering ◽  
Taylor Series ◽  
Navigation System ◽  
Statistical Characteristics ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Taylor Series Approximation ◽  
Improve Accuracy

This paper reports the solution of the state estimation problem of nonlinear systems without knowing prior noise statistical characteristics. An adaptive UKF algorithm is proposed. This novel UKF algorithm is constructed by traditional UKF and EM algorithm, also it improve accuracy through Taylor series approximation. By applying the proposed algorithm into SINS/GPS integrated navigation system and comparing with the unscented Kalman filtering (UKF) algorithm, the adaptive UKF algorithm we proposed can effectively improve the filtering performance , also it outperforms UKF in terms of accuracy.

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