Unified Model Technique for Inertial Navigation Aided by Vehicle Dynamics Model

Philipp Crocoll, Lorenz Goercke, Gert F. Trommer, and Florian Holzapfel

Abstract:	Model-aided navigation increases navigation accuracy by including a vehicle dynamics model into the filter structure. The commonly used Inertial Navigation System (INS) is hence supplemented by another prediction model for the system state. However, the standard Kalman filter only allows for a single system model to propagate the estimation. Previous approaches have overcome this by means of constrained Kalman filtering and pseudo-measurements at the cost of highdimensional state vectors, filter structures with increased complexity or suboptimal estimation quality. In this paper, a novel method called Unified Model is proposed. With this approach, the inertial system model and the vehicle dynamics model are optimally unified to a single prediction model based on the current estimation uncertainties. The resulting system is easy to implement and easy to extend with aiding sensors. Its applicability to model-aided navigation and its computational efficiency compared to previous techniques are demonstrated in a realistic simulation study.
Published in:	Proceedings of the 2013 International Technical Meeting of The Institute of Navigation January 29 - 27, 2013 Catamaran Resort Hotel San Diego, California
Pages:	657 - 669
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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