Performance Evaluation of Extended and Unscented Kalman Filter in a High Dynamic Environment on Flight Trials

Meiko Steen, Andreas Sasse,Ulf Bestmann, Martin Becker and Peter Hecker

Abstract:	Most common application of Kalman filters in navigation is the integration of inertial measurement systems with Global Navigation Satellite Systems (GNSS). As low cost inertial sensors become an alternative to high expensive sensors, but still suffer under high non-linear sensor behavior, new non-linear filtering techniques were applied to integrated navigation systems during the last decades. In the present paper a full-state Unscented Kalman Filter is developed and compared to an Extended Kalman Filter. Both filters contain the same state quantities and are based on the same system dynamics. It is shown, that the UKF yields better performance, especially during high dynamic flight phases. Based on two flights with two different IMUs it is shown, that the performance of the Extended Kalman Filter gets worse than the Unscented Kalman Filter performance if the IMU frequency decreases.
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:	2650 - 2657
Cite this article:	Steen, Meiko, Sasse, Andreas, Bestmann, Ulf, Becker, Martin, Hecker, Peter, "Performance Evaluation of Extended and Unscented Kalman Filter in a High Dynamic Environment on Flight Trials," 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. 2650-2657.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In