The Effect of the Incorrect Covariances of the Measurement Noises in SDINS

J. Seo, J.G. Lee, and C.G. Park

Abstract:	SDINS uses a Kalman filter for compensation of the navigation errors. In an extended Kalman filter structure, the Kalman filter estimates the navigation errors of SDINS and the navigation solutions can be compensated with the estimates. The Kalman filter is an optimal estimator under some conditions. First, the mathematical models must be given precisely, and second, the statistical properties of the noises are also necessary. The incorrect covariances of the noises deteriorate the performance of the Kalman filter. In SDINS, the covariances mean the intensity of the measurement noises of navigation sensors and the exact values of the covariances are hardly obtained. In this paper, the bounds of the state covariances are calculated with the incorrect covariances. With the analyses, we can find the performance bound of SDINS under the incorrect covariances. With a computer simulation, the performance bounds for SDINS with GPS and an odometer are found.
Published in:	Proceedings of the 2006 National Technical Meeting of The Institute of Navigation January 18 - 20, 2006 Hyatt Regency Hotel Monterey, CA
Pages:	1002 - 1011
Cite this article:	Seo, J., Lee, J.G., Park, C.G., "The Effect of the Incorrect Covariances of the Measurement Noises in SDINS," Proceedings of the 2006 National Technical Meeting of The Institute of Navigation, Monterey, CA, January 2006, pp. 1002-1011.
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