Nonlinear Filtering Methods for INS/DGPS In-Motion Alignment

N. Asaoka, M. Ooiwa, M. Tanikawara, T. Numajima, Y. Kubo, S. Sugimoto

Abstract:	In this paper, we present a method of land-vehicle In-Motion Alignment based on nonlinear filtering techniques by integrating Inertial Navigation System (INS) and the code-based transfer Differential GPS (DGPS). Our aim is to integrate the advantage of these systems and to develop the navigation system that does not require initial attitude information of the vehicle. Many research activities have focused on the problem of INS alignment [1]. It is necessary to take account of nonlinear character of INS error equations for In-Motion Alignment in the problem. In this work, we consider the application of optimal nonlinear filtering to the problem. For the INS error model in the proposed algorithm, the linear large azimuth error model [2] is adopted with suitable modification. However the large azimuth error model is not linearized. Finally the proposed algorithm was examined by using an actual GPS and INS data. The experimental results show INS errors (position error, velocity error and azimuth error), and the superior performance of the nonlinear filtering introduced to INS/DGPS integration that is compared with the extended Kalman filter derived for the nonlinear state equations with linear measurement equations.
Published in:	Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003) September 9 - 12, 2003 Oregon Convention Center Portland, OR
Pages:	945 - 956
Cite this article:	Asaoka, N., Ooiwa, M., Tanikawara, M., Numajima, T., Kubo, Y., Sugimoto, S., "Nonlinear Filtering Methods for INS/DGPS In-Motion Alignment," Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003), Portland, OR, September 2003, pp. 945-956.
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