Integration of GPS Precise Point Positioning and MEMS-Based INS Using Unscented Particle Filter
نویسندگان
چکیده
منابع مشابه
Integration of GPS Precise Point Positioning and MEMS-Based INS Using Unscented Particle Filter
Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) integrated system involves nonlinear motion state and measurement models. However, the extended Kalman filter (EKF) is commonly used as the estimation filter, which might lead to solution divergence. This is usually encountered during GPS outages, when low-cost micro-electro-mechanical sensors (MEMS) inertial se...
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Precise Point Positioning (PPP) makes use of the undifferenced pseudorange and carrier phase measurements with ionospheric-free (IF) combinations to achieve centimeter-level positioning accuracy. Conventionally, the IF ambiguities are estimated as float values. To improve the PPP positioning accuracy and shorten the convergence time, the integer phase clock model with between-satellites single-...
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PS receiver has dominated the field of positioning and navigation for decades [1]. However, its performance depends on the signal environments. It provides a continuous navigation solution only when more than four satellites are in view. In order to solve this problem, other navigation systems, e.g., inertial navigation system, are often employed to integrate with GPS for having a robust and co...
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In INS/GPS integration, the data fusion algorithm involves properly handling of nonlinear models. Therefore the nonlinear filtering methods have been commonly applied in the INS/GPS integration to estimate the state vector. The most popular and commonly used method is the Extended Kalman Filter (EKF) which approximates the nonlinear state and measurement equations using the first order Taylor s...
متن کاملGPS/INS Integration Using Sigma Point Kalman Filter
The accuracy of Global Positioning System (GPS) is increased with the coupling to Inertial Navigation System (INS) to accomplish navigation. This paper proposes an algorithm to filter and fuse the GPS and INS information. Sigma point kalman filter is employed to simulate the information convergence of the dynamic model which maintains better performance in nonlinear system. So we can obtain a b...
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ژورنال
عنوان ژورنال: Sensors
سال: 2015
ISSN: 1424-8220
DOI: 10.3390/s150407228