Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

	Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF
	Zhang, B. Q.; H. R. Chu; T. T. Sun; H. G. Jia; L. H. Guo and Y. Zhang
	2015
发表期刊	Mathematical Problems in Engineering
页码	9
摘要	The performance of MEMS-SINS/GPS integrated system degrades evidently during GPS outage due to the poor error characteristics of low-cost IMU sensors. The normal EKF is unable to estimate SINS error accurately after GPS outage owing to the large nonlinear error caused by MEMS-IMU. Aiming to solve this problem, a hybrid KF-UKF algorithm for real-time SINS/GPS integration is presented in this paper. The linear and nonlinear SINS error models are discussed, respectively. When GPS works well, we fuse SINS and GPS with KF with linear SINS error model using normal EKF. In the case of GPS outage, we implement Unscented Transform to predict SINS error covariance with nonlinear SINS error model until GPS signal recovers. In the simulation test that we designed, an evident accuracy improvement in attitude and velocity could be noticed compared to the normal EKF method after the GPS signal recovered.
收录类别	SCI ; EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/55519
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Zhang, B. Q.,H. R. Chu,T. T. Sun,et al. Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF[J]. Mathematical Problems in Engineering,2015:9.
APA	Zhang, B. Q.,H. R. Chu,T. T. Sun,H. G. Jia,&L. H. Guo and Y. Zhang.(2015).Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF.Mathematical Problems in Engineering,9.
MLA	Zhang, B. Q.,et al."Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF".Mathematical Problems in Engineering (2015):9.

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