Inertial Sensor Bias Estimation in GPS/INS Integration through Nonlinear Kalman Filtering
نویسندگان
چکیده
The GPS/INS integration system estimates the navigation errors as well as internal sensor errors through the use of a Kalman filter. The tight integration processing mode uses the GPS range and range-rate measurements in a nonlinear Kalman filter. Extended Kalman filtering (EKF) has been discussed in many publications dealing with GPS/INS integration. The recently developed sigma-point Kalman filtering algorithm has advantages over the EKF, for instance by its ability to capture the high-order nonlinear terms without requiring the computation of the Jacobian matrix.
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Yong Li is a Research Associate at the School of Surveying & Spatial Information Systems, the University of New South Wales (UNSW), Sydney, Australia. Yong obtained a Doctor of Philosophy in flight dynamics from the Northwestern Polytechnical University, China. He was working on GPS aerospace applications, first at the Beijing Institute of Control Engineering and then the Japanese Aerospace Exp...
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