INS/GPS/MNS Integrated Navigation System with Federated Kalman Filtering

De Ning Jiang; Tulu Muluneh Mekonnen

doi:10.4028/www.scientific.net/AMR.718-720.1207

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 718-720INS/GPS/MNS Integrated Navigation System with...

INS/GPS/MNS Integrated Navigation System with Federated Kalman Filtering

Abstract:

A multi-sensor integrated solution that combine complementary features of the Global Positioning System (GPS), inertial navigation system (INS), and magnetometer is presented due to GPS-aided inertial navigation system (INS) provides poor observability of heading angle. In addition, Based on the principle of federated Kalman filtering and Adaptive Extended Kalman Filter, the algorithm is presented also for accuracy of positioning and attitude, rapidity, and error tolerance of the navigation system. The algorithm is implemented in the integrated navigation system. Experimental results show that the observability issue is solved and improvement in accuracy.

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Periodical:

Advanced Materials Research (Volumes 718-720)

Pages:

1207-1212

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.718-720.1207

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Online since:

July 2013

Authors:

De Ning Jiang, Tulu Muluneh Mekonnen

Keywords:

Federated Kalman Filtering, GPS, Inertial Navigation System (INS), Multi-Sensor System

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