A Quaternion-Based Unscented Kalman Filter for the Integration of GPS and MEMS INS

Eun-Hwan Shin

Abstract:	This paper describes the development of a quaternion-based unscented Kalman filter (UKF) to overcome some of the limitations of the extended Kalman filter (EKF). The UKF was applied for the integration of the global positioning system (GPS) and a micro-electrical-mechanical-systems (MEMS) inertial navigation system (INS). The state vector includes position, velocity, attitude, and sensor biases and scale factors. The attitude is parametrized using quaternions to avoid singularities. Position information from the differential GPS (DGPS) solutions is used as the measurement updates in the UKF. Test results showed that the UKF can yield horizontal position errors about 1– 2m and 5–10m for 10 s and 20 s GPS outages, respectively. There is no need to develop an error model for the UKF. Therefore, the UKF can be considered as a unified approach in the INS/GPS integration.
Published in:	Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004) September 21 - 24, 2004 Long Beach Convention Center Long Beach, CA
Pages:	1060 - 1068
Cite this article:	Shin, Eun-Hwan, "A Quaternion-Based Unscented Kalman Filter for the Integration of GPS and MEMS INS," Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004), Long Beach, CA, September 2004, pp. 1060-1068.
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