The Expanded State Space Kalman Filter for GPS Navigation

Particle swarm optimization for GPS navigation Kalman filter adaptation

Purpose – The purpose of this paper is to conduct the particle swarm optimization (PSO)-assisted adaptive Kalman filter (AKF) for global positioning systems (GPS) navigation processing. Performance evaluation for the PSO-assisted Kalman filter (KF) as compared to the conventional KF is provided. Design/methodology/approach – The position-velocity also knows as constant velocity process model ca...

State Space Models and the Kalman Filter

Rotated Unscented Kalman Filter for Two State Nonlinear Systems

In the several past years, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.The UKF has consistently outperformed for estimation. Sometimes least estimation error doesn't yieldwith UKF for the most nonlinear systems. In this paper, we use a new approach for a two variablestate no...

Improving the Reliability of GPS and GLONASS Navigation Solution in Urban Canyons using a Tuned Kalman Filter

Abstract: Urban canyon is categorized as hard environment for positioning of a dynamic vehicle due to low number and also bad configuration of in-view satellites. In this paper, a tuning procedure is proposed to adjust the important factors in Kalman Filter (KF) using Genetic Algorithm (GA). The authors tested the algorithm on a dynamic vehicle in an urban canyon with hard condition and compare...

Improvement of Navigation Accuracy using Tightly Coupled Kalman Filter

In this paper, a mechanism is designed for integration of inertial navigation system information (INS) and global positioning system information (GPS). In this type of system a series of mathematical and filtering algorithms with Tightly Coupled techniques with several objectives such as application of integrated navigation algorithms, precise calculation of flying object position, speed and at...