The Analysis of the UKF-Based Navigation Algorithm during GPS Outage

Abstract

The unscented Kalman filter (UKF) became very attractive for the navigation sensors data fusion, because of algorithm significant accuracy and implementation advantages. The unscented Kalman filter is based on the unscented transform (UT) to perform the estimation of the system states. The main idea of the unscented transformation is following. It's more effective to approximate probability distribution function than arbitrary transformation or nonlinear function. The developed sensors data fusion algorithm using the UKF is considered in this work. This algorithm was applied for the state estimation of the loosely coupled GPS/INS integrated navigation system. GPS/INS integrated navigation system contains low cost inertial sensors and low cost GPS receiver. To demonstrate the estimation performance, the processing of sensors data was done using linear Kalman filter (KF), extended Kalman filter (EKF) and UKF. As a result, UKF has lower velocity estimation error than EKF during simulated GPS signal outage. Index Terms-Unscented Kalman filter, GPS outage, microelectromechanical systems, inertial measurement unit.

Kalman Filtresi ile Ayrık Zamanlı Durum Tahmini ve Zamanla Değişen Doğrusal Bir Sistemin Adaptif LQR Kontrolü

“…Accordingly, the Kalman filters are expressed as the mathematical method that can minimize the disruptive effects and estimate the states by reducing the root-mean-square error. This filter structure is especially used in space and military technology [4], robotics and trajectory control applications [5], hybrid tracking technique [6], dynamic data processing [7], navigation sensors data fusion [8], Mobile Radio Link Adaptation by Radio Channel State Prediction [9], artificial neural networks [10], and different hybrid controller designs [11]. Accurately estimating the dynamic states (such as position, speed, and current) of a system such as a DC Motor is a very important element in terms of system stability [12].…”

Performance evaluation of Cubature Kalman filter in a GPS/IMU tightly-coupled navigation system

“…So in theory they have higher estimation accuracy than the EKF. The UKF and CDKF have been applied in the GPS/IMU integrated navigation system and perform better than the EKF as introduced in [5,[7][8][9][10].…”

Magnetometer Error Models of Low-Cost Land Vehicle Navigation System

“…The design of low-cost integrated land vehicles navigation systems becomes a more and more actual problem. Core to the integration is concept of fusing measurements from GPS sensor and inertial measurement unit using linear or nonlinear estimation techniques [1]. Nowadays, the magnetometers and odometers are also used in low-cost integrated land vehicles navigation systems for dead recognition (DR) attitude determination during GPS outage [2].…”

“…GPS receiver supports navigation system with position data, heading angle and land vehicle horizontal velocity. Position filter is described in papers [1], [3].…”