System Design and Performance Analysis of Extended Kalman Filter-Based Ultra-Tight GPS/INS Integration

Di Li and Jinling Wang

Abstract:	Ultra-tight integration is increasingly becoming important due to its numerous advantages in terms of the robustness in the high dynamics and the immunity to the jamming and interference. Because of these advantages, the next generation of integrated GPS/INS navigation systems can be based on the ultratightly coupled configuration. This paper focuses on the design of the ultra-tight integration using the nonlinear Kalman filtering approach. Based on the discussion of the nonlinear error propagation equations of the INS mechanization, the system dynamic models are ascertained. Through the simplifications in both the system dynamic model and the measurement model, the EKF-based ultra-tight GPS/INS integration is implemented. Different experimental scenarios are designed to evaluate the performance of the EKF-based ultra-tight configuration. The EKF-based ultra-tight approach has been validated through the high dynamic maneuver test. Furthermore, the long-time flight-based experiment is employed to compare the performances of the EKF-based and linear Kalman filter-based ultra-tight integration. The experimental results indicated that the performance of the EKF-based ultra-tight configuration can be improved.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	291 - 299
Cite this article:	Li, Di, Wang, Jinling, "System Design and Performance Analysis of Extended Kalman Filter-Based Ultra-Tight GPS/INS Integration," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 291-299. https://doi.org/10.1109/PLANS.2006.1650615
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