Performance Studies of Nonlinear Filtering Methods in INS/GPS In-Motion Alignment

M. Nishiyama, S. Fujioka, Y. Kubo, T. Sato, S. Sugimoto

Abstract:	In this paper we present algorithms of land-vehicle INS/GPS In-Motion Alignment based on nonlinear filtering techniques [1–6] and discuss advantages and disadvantages of each filtering method. There exist many nonlinear filtering techniques such as very popular EKF(Extend Kalman Filter) [1], the Quasi-Linear Optimal Filter [2], the Gaussian Sum Filter [3] and the Monte Carlo Filter [4, 5]. And we have reported the advantage of applying these filtering methods to the In-Motion Alignment algorithms in [7–9]. On the other hand, recently the UKF(Unscented Kalman filter) have been focused on in the area of integrated navigation [10–12]. In this paper, therefore, we attempt to apply the UKF to the In-Motion Alignment with real-time operation and compare the performances with other nonlinear filters by simulated INS/GPS data. Also, from these results, we discuss the feasibility of applying the nonlinear filters to INS/GPS In-Motion alignment.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	2733 - 2742
Cite this article:	Nishiyama, M., Fujioka, S., Kubo, Y., Sato, T., Sugimoto, S., "Performance Studies of Nonlinear Filtering Methods in INS/GPS In-Motion Alignment," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 2733-2742.
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