Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

被引：0
|
作者：
Liu, Hua [1 ]
Liu, Tong [1 ]
机构：
[1] School of Automation, Beijing Institute of Technology, Beijing 100081, China
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2013年 / 21卷 / 03期
关键词：
Global positioning system - Bandpass filters;
D O I：
暂无
中图分类号：
TN713 [滤波技术、滤波器];
学科分类号：
摘要：
The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle's body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.
引用
收藏
页码：392 / 396
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