Real-Time Nonlinear Filtering Methods for INS/DGPS In-Motion Alignment

M. Tanikawara, N. Asaoka, M. Ooiwa, Y. Kubo and S. Sugimoto

Abstract:	In this paper we present a method of land-vehicle In-Motion Alignment based on practical nonlinear filtering techniques, and owing to its simplicity of computer programming and use of a look-at-table of pseudo random numbers to reduce its computational burden, it is possible to realize the real- time nonlinear filtering. Many research activities have focused on the problem of INS alignment by linearizing the equations, using the extended Kalman filter or using nonlinear filter [1] [2]. And recent years, in order to overcome the nonlinearity and some methods using the nonlinear filtering techniques are actively re- ported [5] [9]. However it is difficult to use such nonlinear filters for real-time INS operation because of their computational burden. In this work, therefore we consider the application of the optimal nonlinear filtering to the In-Motion Alignment and its real-time operation. For the INS error model in the proposed algorithm, the linear large azimuth error model [3] is adopted with some modifications [7]. How- ever the large azimuth error model is not linearized in our proposed nonlinear filtering methods. We also show the numerical simulations by utilizing the created data, with considering many problems such as the lack of GPS satellites, the rapid acceleration and circling movements in INS/DGPS In-Motion Alignment. The experimental results show that the proposed method can decrease the position, velocity and azimuth errors by the superior performance of the particle filtering. Furthermore our nonlinear filtering method is evaluated from the standpoints o f convergence speed, accuracy and computational time.
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:	1104 - 1114
Cite this article:	Tanikawara, M., Asaoka, N., Ooiwa, M., Kubo, Y., Sugimoto, S., "Real-Time Nonlinear Filtering Methods for INS/DGPS In-Motion Alignment," 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. 1104-1114.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In