Applying Quaternion-based Unscented Particle Filter on INS/GPS with Field Experiments

Junchuan Zhou, Yuhong Yang, Jieying Zhang, Ezzaldeen Edwan

Abstract:	In this contribution, a quaternion-based unscented particle filter (UPF) algorithm is applied on the low-cost INS/GPS tightly-coupled integration. Field experiments are made based on train and car rides. A u-blox Antaris 4 receiver with two MEMS-based IMUs at different levels (i.e., a LandmarkTM20 eXT and a Xsens MTi) are employed in the tests. Numerical results show that the UPF can exhibit high accurate estimation results with only a small number of particles. On the estimation of attitude, both UPF and unscented Kalman filter present similar performances.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3842 - 3855
Cite this article:	Zhou, Junchuan, Yang, Yuhong, Zhang, Jieying, Edwan, Ezzaldeen, "Applying Quaternion-based Unscented Particle Filter on INS/GPS with Field Experiments," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 3842-3855.
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