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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Effective Sage-Husa Kalman filter for SINS/Doppler/Platform Compass integrated navigation system


    Contributors:
    Jianjuan Liu (author) / Hongmei Chen (author) / Nanbo Liu (author)


    Publication date :

    2016-08-01


    Size :

    186936 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    An Optical-Flow-Assisted Navigation Method for UAVs Using Sage-Husa EKF

    Hu, Ke / Wu, Xueyong / Xu, Huaxing et al. | Springer Verlag | 2024





    Research on Invariant Extended Kalman Filter Based 5G/SINS Integrated Navigation Simulation

    Luo, Yarong / Wang, Mengyuan / Guo, Chi et al. | British Library Conference Proceedings | 2021