|Abstract:||In this paper, we propose a modified Rao-Blackwelled Point Mass Filter algorithm which can drastically reduce the computational amount of general PMF for tightly-coupled INS/TRN integration implementation. The proposed RB-PMF is easier to implement than a previous algorithm and its time propagation and the measurement update stages are separated definitely. These advantages can further reduce computational amount and enable applying of measurement validation check logic in measurement updates. We propose a 15th order tightly-coupled INS/TRN integration algorithm using the proposed RB-PMF. This can improve the estimation performance of position error and velocity error than a previous loosely-coupled type. Simulation is performed to verify the performance improvement of the proposed algorithm, and the comparison results of the estimation accuracies and the algorithm execution time are presented.|
Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018)
September 24 - 28, 2018
Hyatt Regency Miami
|Pages:||3357 - 3366|
|Cite this article:||
Sung, Chang-Ky, Lee, Sang-Jeong, "Rao-Blackwellized Point Mass Filter and its Application to Tightly-Coupled INS/TRN Integration," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3357-3366.
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