Loosely Coupled INS/GPS Integration with Constant Lever Arm using Marginal Unscented Kalman Filter
Loosely Coupled INS/GPS Integration with Constant Lever Arm using Marginal Unscented Kalman Filter
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DOI：
10.1017/s0373463313000775
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发表时间：
2014-05-01
影响因子：
2.4
通讯作者：
Chang, Guobin
中科院分区：
文献类型：
--
作者：
Chang, Guobin
研究了惯性导航系统（INS）与全球定位系统（GPS）的松耦合问题，特别考虑了常杠杆臂效应。利用GPS观测船在导航坐标系中的水平速度及其在地心坐标系和地固坐标系中的位置的五元矢量，在存在杠杆臂效应的情况下，建立了从状态矢量到观测矢量的非线性观测方程，并通过无迹卡尔曼滤波（UKF）的校正阶段进行求解。利用非线性观测方程中的条件线性子结构，研究了UKF的一种计算效率高的改进算法--边缘化UKF（MUKF），将该子结构引入到UKF中，只需较少的sigma点，在保持UKF的高精度和良好适用性的同时，降低了计算开销. UKF和MUKF之间的性能比较表明，MUKF可以实现，如果不是更好，至少与UKF相当的性能，但在较低的计算费用。
A loosely coupled Inertial Navigation System (INS) and Global Positioning System (GPS) are studied, particularly considering the constant lever arm effect. A five-element vector, comprising a craft's horizontal velocities in the navigation frame and its position in the earth-centred and earth-fixed frame, is observed by GPS, and in the presence of lever arm effect, the nonlinear observation equation from the state vector to the observation vector is established and addressed by the correction stage of an unscented Kalman filter (UKF). The conditionally linear substructure in the nonlinear observation equation is exploited, and a computationally efficient refinement of the UKF called marginalized UKF (MUKF) is investigated to incorporate this substructure where fewer sigma points are needed, and the computational expense is cut down while the high accuracy and good applicability of the UKF are retained. A performance comparison between UKF and MUKF demonstrates that the MUKF can achieve, if not better, at least a comparable performance to the UKF, but at a lower computational expense.