Modified Gaussian Sum Filtering Methods for INS/GPS Integrated System

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

Abstract:	In this paper, we propose a modified Gaussian Sum filtering method and apply it to land-vehicle INS(Inertial Navigation System)/GPS(Global Positioning System) integrated navigation as well as the In-Motion Alignment systems. For many years, the extended Kalman filter has been widely utilized as the estimator in the integrated navigation systems, and recently some nonlinear filtering methods are applied. In this paper, we try to combine Gaussian Sum filter and so-called unscented transformation which is utilized in the unscented Kalman filter in order to improve the treatment of the nonlinearity in Gaussian Sum filter. With this combination, it is expected that the transient response of the filter can be improved under large initial estimation errors. We also show the experimental results by using simulated data, with assuming the various error sources such as the errors of GPS measurement, INS sensors and various running trajectories.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	2639 - 2649
Cite this article:	Kubo, Y., Sato, T., Nishiyama, M., Sugimoto, S., "Modified Gaussian Sum Filtering Methods for INS/GPS Integrated System," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 2639-2649.
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