An Improved Adaptive Algorithm for INS/GPS System

Li Dong Wang; Ying Zhao; Ni Zhang

doi:10.4028/www.scientific.net/AMM.397-400.1606

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 397-400An Improved Adaptive Algorithm for INS/GPS System

An Improved Adaptive Algorithm for INS/GPS System

Abstract:

In INS/GPS system, the changing of initial conditions and the quality of the data can affect the convergence of the conventional Kalman filter algorithm. Sage-Husa adaptive filter algorithm is adopted in the INS/GPS system in this paper. The effecting of the forgetting factor to the improved Sage-Husa adaptive filter algorithm is studied and the simulation results show that when the forgetting factor taken near 0.97, the adaptive filtering result is best, the stability of the system is guaranteed and the convergent speed of error can be reduced.

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Periodical:

Applied Mechanics and Materials (Volumes 397-400)

Pages:

1606-1610

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.397-400.1606

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Online since:

September 2013

Authors:

Li Dong Wang, Ying Zhao, Ni Zhang

Keywords:

Adaptive-Filter, INS/GPS, Kalman Filter (KF), Sage-Husa Algorithm

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