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《Journal of Chinese Inertial Technology》 2000-04
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Kalman Filter Design of Inertial Positioning System

GAO Zhongyu (Tsinghua University,Beijing 100084,China)  
Design of zerovelocity update Kalman filter for inertial positioning system applied in land vehicle is discussed.There are many references about this issue which have been published since eighty decade early of twenty century.Comparing with the different methods mentioned in the refernces,the new Kalman filter presented in this paper considers not only constant element but also ramp element of gyro random rate,so it is more suitable to be used in the systems with longer interval of zerovelocity update.Firstly,the extend error state model of the land inertial system is derived.Secondly,the observation vector is constituted with zerovelocity errors of three adjacent points.Thirdly,discrete linear Kalman filter is designed based on the state equations and observation vector mentioned above.Especially,specific accomplishment of estimate means of initial states and its covariance matrix is presented.Finally,the resultant curves of vehicle tests in Beijing suburb are given.The applied system in vehicle tests is a refit aviation inertial navigation system with position accuracy of 3.7 km/h.Test results show that the position accuracy of inertial system can be improved by more than 2 orders if using the Kalman filter presented in this paper to put into effect of zerovelocity update.
【CateGory Index】: V249
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