Publication:
Sigma-point Kalman filtering for tightly coupled GPS/INS integration

dc.contributor.author LI, Y en_US
dc.contributor.author RIZOS, C en_US
dc.contributor.author WANG, J en_US
dc.contributor.author MUMFORD, P.J en_US
dc.contributor.author DING, W en_US
dc.date.accessioned 2021-11-25T13:50:21Z
dc.date.available 2021-11-25T13:50:21Z
dc.date.issued 2008 en_US
dc.description.abstract The sigma-point Kalman filtering (SPKF) uses a set of sigma points to completely capture the first and second order moments of the apriori random variable. The sigma-points can be mapped into the state space or the measurement space through the nonlinear functions of the system directly, instead of linearization via the Jacobian matrices. Using the SPKF, a tightly-coupled GPS/INS integration can be designed in either the full state space or the error state space. This paper uses the error state space. It blends the INS error model and the nonlinear range and range-rate equations. The computational loads between SPKF and EKF are compared for the tightly integrated system through this design. Theoretical analysis and experiment results show that for GPS/INS integration the second-order effect on the accuracy of the EKF solution is so small that the EKF and SPKF give almost the same solutions in terms of accuracy. en_US
dc.identifier.issn 0028-1522 en_US
dc.identifier.uri http://hdl.handle.net/1959.4/41311
dc.language English
dc.language.iso EN en_US
dc.rights CC BY-NC-ND 3.0 en_US
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/3.0/au/ en_US
dc.source Legacy MARC en_US
dc.title Sigma-point Kalman filtering for tightly coupled GPS/INS integration en_US
dc.type Journal Article en
dcterms.accessRights metadata only access
dspace.entity.type Publication en_US
unsw.accessRights.uri http://purl.org/coar/access_right/c_14cb
unsw.relation.faculty Engineering
unsw.relation.ispartofissue 3 en_US
unsw.relation.ispartofjournal Navigation en_US
unsw.relation.ispartofpagefrompageto 167-177 en_US
unsw.relation.ispartofvolume 55 en_US
unsw.relation.originalPublicationAffiliation LI, Y, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW en_US
unsw.relation.originalPublicationAffiliation RIZOS, C, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW en_US
unsw.relation.originalPublicationAffiliation WANG, J, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW en_US
unsw.relation.originalPublicationAffiliation MUMFORD, P.J, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW en_US
unsw.relation.originalPublicationAffiliation DING, W, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW en_US
unsw.relation.school School of Civil and Environmental Engineering *
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