This article aims at improving positioning precision and stability of the SINS/Doppler/Platform Compass integrated navigation system. Firstly, based on considering of the characteristic and performance of the integrated system, the system model is established. And the discrete state and measurement equations are achieved. Secondly, traditional Kalman filter for this system is usually unstable, and easy to divergent. So reasons for divergence of integrated navigation with traditional Kalman filter is analyzed. Thirdly, Sage-Husa Kalman filter based on UD decomposition is designed. And some improvements have been made according to the analysis results. Finally, several simulation experiments were made to test the effect of the improved algorithms. The simulation results indicate that improved Sage-Husa Kalman filter based on UD decomposition can guarantee the precision and stability of the SINS/Doppler/Platform Compass integrated navigation system.
Effective Sage-Husa Kalman filter for SINS/Doppler/Platform Compass integrated navigation system
2016-08-01
186936 byte
Conference paper
Electronic Resource
English
An Optical-Flow-Assisted Navigation Method for UAVs Using Sage-Husa EKF
Springer Verlag | 2024
|Adaptive Two-stage Kalman Filter for SINS/Odometer Integrated Navigation Systems
Online Contents | 2017
|Adaptive Two-stage Kalman Filter for SINS/Odometer Integrated Navigation Systems – ERRATUM
Online Contents | 2016
|Adaptive Two-stage Kalman Filter for SINS/Odometer Integrated Navigation Systems – ERRATUM
Online Contents | 2017
|Research on Invariant Extended Kalman Filter Based 5G/SINS Integrated Navigation Simulation
British Library Conference Proceedings | 2021
|