Design of Mode Switching Logic for EKF/Batch Processing TRN

W. Lee, Y.M. Yoo, C.G. Park

Abstract:	We present a combined TRN(Terrain Reference Navigation) algorithm which uses sequential and batch processing method to calculate the vehicle position with inertial sensors. In this paper, the mode switching logic is designed for combined TRN algorithm. First of all, sequential and batch processing TRN algorithm are used to consist combined TRN algorithm. And one of them is operated by determination about position accuracy. EKF(Extended Kalman Filter) is utilized to sequential processing TRN method. For the switching between batch and sequential mode, the size of covariance of EKF and numbers of batch processing TRN position update are used in proposed TRN. As a result, we can see that the improved performance of the proposed method compared to each conventional methods.
Published in:	Proceedings of the ION 2013 Pacific PNT Meeting April 23 - 25, 2013 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	362 - 367
Cite this article:	Lee, W., Yoo, Y.M., Park, C.G., "Design of Mode Switching Logic for EKF/Batch Processing TRN," Proceedings of the ION 2013 Pacific PNT Meeting, Honolulu, Hawaii, April 2013, pp. 362-367.
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