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GPS/INS 초강결합 기법에 대한 UKF의 성능분석
Performance Investigation of the Unscented Kalman Filterfor Ultra-tightly GPS/INS Integration
- 조영석;
- 심덕선;
- 양철관;
- 박진우
초록
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.
키워드
unscented Kalman filter; positioning; GPS/INS; ultra-tightly integration
- 제목
- GPS/INS 초강결합 기법에 대한 UKF의 성능분석
- 제목 (타언어)
- Performance Investigation of the Unscented Kalman Filterfor Ultra-tightly GPS/INS Integration
- 저자
- 조영석; 심덕선; 양철관; 박진우
- 발행일
- 2007-08
- 저널명
- 제어.로봇.시스템학회 논문지
- 권
- 13
- 호
- 8
- 페이지
- 817 ~ 823
- 출판사
- 제어·로봇·시스템학회
- 발행국가
- 대한민국
- 분량
- 7 페이지
- ISSN
- P 1976-5622