Comparison of Nonlinear Filtering Methods for INS/GPS In-Motion Alignment

S. Fujioka, M. Tanikawaray, M. Nishiyama, Y. Kubo and S. Sugimoto

Abstract:	In this paper we present algorithms of land-vehicle INS/DGPS In-Motion Alignment based on nonlinear filtering techniques including classical methods [1] [2] as well as modern methods [3] [4] [5]. And, we discuss which filtering method can achieve good performance. Many research activities have focused on the problem of INS alignment by linearizing the equations, using the Extended Kalman filter or applying nonlinear filters [6] [7]. And in the recent years, for overcoming the nonlinearity, the nonlinear filtering techniques are actively reported, e.g. Monte Carlo filter [3], sequential importance sampling [4] that are based on the conditional expected values estimated by means of Monte-Carlo methods [3] [4] [5]. On the other hand, several classical techniques such as Quasi-Linear Optimal filtering [1] and Gaussian Sum filtering [2] have been enumerated as promising methods to overcome the nonlinearity. In this paper, therefore we try to apply these sub-optimal nonlinear filtering techniques to the In-Motion Alignment with real-time operation. For the INS error model in our proposed algorithm, the linear large azimuth error model [10] is adopted with some modifications. Also, the large azimuth error model is not linearized for our proposed nonlinear filtering methods. We show the simulation results by utilizing the generated data, in which we consider the situation such as the rapid acceleration and circling movement of land-vehicle in INS/DGPS In-Motion Alignment, and compare the practicalities of the nonlinear filters.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	467 - 477
Cite this article:	Fujioka, S., Tanikawaray, M., Nishiyama, M., Kubo, Y., Sugimoto, S., "Comparison of Nonlinear Filtering Methods for INS/GPS In-Motion Alignment," Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 467-477.
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