Comparing Non-Linear Filters for Aided Inertial Navigators

Zhiqiang Xing and Demoz Gebre-Egziabher

Abstract:	The performance of the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) in an aided-inertial navigator for terrestrial applications is analyzed. Parameters affecting the quality of state estimate provided by these two non-linear filters are identified. It is shown that for a GNSS-aided navigator, the performance of these two filters is very similar and, thus, argues that the EKF is adequate for this application. However, for applications where the aiding for the inertial sensors comes from ranging sources other than GNSS, it is shown that the performance between these two filters can be different.
Published in:	Proceedings of the 2009 International Technical Meeting of The Institute of Navigation January 26 - 28, 2009 Disney's Paradise Pier Hotel Anaheim, CA
Pages:	1048 - 1053
Cite this article:	Xing, Zhiqiang, Gebre-Egziabher, Demoz, "Comparing Non-Linear Filters for Aided Inertial Navigators," Proceedings of the 2009 International Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2009, pp. 1048-1053.
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