A New Federated Kalman Filter for Integrated Navigation System Based on SINS

Dongqing Gu, Yongyuan Qin and Naser El-Sheimy

Abstract:	A new federated Kalman filter (FKF) for multi-sensor integrated navigation system based on a Strapdown Inertial Navigation System (SINS) is presented in this paper. The configuration and information fusion algorithm of this new FKF which is a kind of local feedback compensation FKF, are described in details in this paper. In this proposed new FKF configuration, the local feedback compensation has same fault-tolerant performance as the no reset feedback FKF. However its accuracy is better than the no reset feedback FKF for multi-sensor integrated navigation system based on SINS, as indicated by the results from a simulation. A field test is carried out with Micro-Electro-Mechanical Systems (MEMS) INS aided by two Global Positioning System (GPS) receivers. In this case, the feedback compensation must be performed in the local Kalman filter while the no reset feedback FKF is no longer valid for this low-accuracy INS. The results of the field test show that the local feedback compensation FKF is very suitable in this case and its accuracy is equivalent to that of the centralized Kalman filter. Our results indicate that the local feedback compensation FKF is a promising method for multi-sensor integrated navigation system based on SINS.
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:	551 - 561
Cite this article:	Gu, Dongqing, Qin, Yongyuan, El-Sheimy, Naser, "A New Federated Kalman Filter for Integrated Navigation System Based on SINS," 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. 551-561.
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