Hybrid Extended Particle Filter (HEPF) for INS/GPS Integrated System

P. Aggarwal, N. El-Sheimy

Abstract:	Navigation comprises the integration of methodologies and systems for estimating the time varying position, velocity and attitude of moving objects. Integration of INS/GPS systems for improved navigation requires extensive evaluations of nonlinear equations involving double integration. Currently, integrated navigation systems are commonly implemented using Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). The EKF assumes linear process and measurement models while UKF generates sigma points using the real mean and standard deviation of data. However, both EKF and UKF assume the distributions to be Gaussian, which is unrealistic for highly nonlinear systems. To overcome these limitations, Particle Filter (PF) was proposed lately which is a non-parametric filter and hence can easily deal with non-linearity and non- Gaussian noises. In this paper, Hybrid Extended Particle Filter (HEPF) is developed as an alternative to the EKF to achieve better navigation data accuracy using low-cost MEMS sensors. HEPF combines the advantages of Extended Kalman Filter and Extended Particle Filter by alternating between the two filters, based on system dynamic. For land vehicle, fewer sensor combinations are usable as vehicle motion in mainly constrained in two dimensions. This paper focuses on comparing different sensor configurations that reduces the over all cost of the system. Experimental INS/GPS datasets using carrier phase GPS receiver data and inertial measurements from low-cost MEMS-grade Inertial Measurement Unit (IMU) is used to evaluate the proposed HEPF for two partial and full IMU configurations. It is deducted that full IMU configuration gives the best results i.e. minimum drift errors, but is not cost effective approach while 1 Gyroscope and 2 accelerometer ( 1G2A) performance is better than 1 Gyroscope and 3 accelerometer (1G3A) configuration.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	1858 - 1866
Cite this article:	Aggarwal, P., El-Sheimy, N., "Hybrid Extended Particle Filter (HEPF) for INS/GPS Integrated System," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 1858-1866.
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