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Performance comparison of extended and unscented kalman filter implementation in INS-GPS integration
2009 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The objective of this thesis is to implement an unscented kalman filter for integrating INS with GPS and to analyze and compare the results with the extended kalman filter approach. In a loosely coupled integrated INS/GPS system, inertial measurements from an IMU (angular velocities and accelerations in body frame) are integrated by the INS to obtain a complete navigation solution and the GPS measurements are used to correct for the errors and avoid the inherent drift of the pure INS system. The standard approach is to use an extended kalman filter in complementary form to model the errors of the INS states and use the GPS measurements to estimate corrections for these errors which are then feedback to the INS. Although the unscented kalman filter is more computational intensive, it is supposed to outperform the extended kalman filter and be more robust to initial errors. The main goal of this work is to analyze the difference in performance and robustness between both implementations. As a first step, a simplified Attitude estimation of a stabilized platform is implemented in both, the UKF and the EKF and eventually the UKF will be implemented in a more complex realistic 3D navigation problem and compared against the current model used by Honeywell.

Place, publisher, year, edition, pages
Keyword [en]
Technology, INS-GPS integration, Unscented Kalman Filter, Extended, Kalman Filter, GPS, Inertial Navigation System
Keyword [sv]
URN: urn:nbn:se:ltu:diva-45123ISRN: LTU-PB-EX--09/095--SELocal ID: 2dafd2c0-74c4-420e-9244-7774d6fdd997OAI: diva2:1018404
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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