Navigational Error Control by Model based Filtering and Smoothing for GPS/INS Integration

International Journal of Electronics and Communication Engineering
© 2015 by SSRG - IJECE Journal
Volume 2 Issue 5
Year of Publication : 2015
Authors : Dr. S. S. Sreeja Mole
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How to Cite?

Dr. S. S. Sreeja Mole, "Navigational Error Control by Model based Filtering and Smoothing for GPS/INS Integration," SSRG International Journal of Electronics and Communication Engineering, vol. 2,  no. 5, pp. 45-56, 2015. Crossref, https://doi.org/10.14445/23488549/IJECE-V2I5P114

Abstract:

Nowadays Global Positioning System (GPS) is the widely used system for navigational aids and tracking of vehicles. However, GPS will not offer uninterrupted and consistent position values i.e. Latitude, Longitude and Altitude all the times as it likely to be blocked by buildings, mountains, etc. Inertial Navigation Systems (INS) provides continues information of position, velocity and attitude all the time. However, the performance of INS deteriorates with time due to the perfromance degradation of inertial sensors. GPS/INS integration provides reliable navigation solution. Existing GPS/INS integration using Kalman Filter (KF) can give correct results only when the system dynamic models are completely known. To estimate the state of vehicle, Extended Kalman Filter (EKF) is used. Since EKF provides the inaccurate navigation during the non linear motion of the vehicle, an Unscented Kalman Filter (UKF) has been employed. Interacting Multiple Model (IMM) filter is more efficient than the conventional single model filter in determining the adequate values of process noise covariance. In this paper, the application of Interacting Multiple Model Unscented Kalman Filter Two Filter Smoothing (IMM-UKFTFS) approach to GPS/INS integration for the maneuvering vehicle is proposed. The resulting IMM-UKFTFS strategy effectively deals with the non-linear motion and noise covariance problem of navigation. The performance of the proposed IMM-UKFTFS method is examined for a non-linear trajectory which consist of Constant Acceleration (CA) and Coordinated Turn (CT) models. The simulation results show that the proposed IMM-UKFTFS gives better estimate than the existing conventional estimators such as UKF and IMM-UKF.

Keywords:

GPS; INS; EKF; UKF; IMM-EKF; IMM-UKF; IMM-UKFTFS; TFS

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