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《Acta Armamentarii》 2006-04
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Reduced-order EKF Application in A Marine INS/GPS Navigation System

XU Jin-hua,XU Jiang-ning,ZHU Tao,BIAN Shao-feng (Department of Navigation Engineering,Naval University of Engineering,Wuhan 430033,Hubei,China)  
Integrated navigation for GPS/INS provides alternatives for long-term stability and high accuracy due to their complementary properties.A stand-alone navigation system with high accuracy will be of high cost.Integration of the medium accuracy sensors,with the properly integrated method,can achieve higher accuracy and long term stability at a lower cost.It is the goal of the present project-TNDS(true north determination system).The TNDS integrates MS860 and INS with a PC/104 embedded computer system processing the data.The INS error model including the proper error states for the actual physical system TNDS has been developed.Based on the model,a proposed GPS/INS reduced-order EKF(extended kalman Filter) algorithm design for TNDS and marine tests were achieved.The tests show that the INS position errors are reduced from more than 100?m to 40?m after correction.The heading error σ are reduced from 0.105° to 0.034° after correction.The accuracy in roll and pitch is also increased greatly by the integration.Whole set of tests show that the TNDS performance is significantly improved by GPS/INS reduced-order EKF algorithm.
【Fund】: 国家自然科学基金资助项目(40376011)
【CateGory Index】: U666.1
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