Title: The Innovation-Based Estimation Adaptive Kalman Filter Algorithm for INS/GPS Integrated Navigation System
Abstract: This paper presented an INS/GPS adaptive navigation system for marine application.The GPS with two antennas providing vessel's altitude is selected as the auxiliary navigation system to fuse with INS to obtain better estimation accuracy of INS errors.A novel innovation-based adaptive estimation(IAE) Kalman filtering approach was proposed to solve the degradation of the integrated navigation system caused by GPS unstable measurement disturbs.The developed adaptive Kalman filter is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence the filter gain.The simulation results show that the adaptive Kalman filter outperforms the standard Kalman filter with better accuracy,robustness and less computation.It is demonstrated that this proposed approach is a valid solution for the unknown changing measurement noise exited in Kalman filter.
Publication Year: 2006
Publication Date: 2006-01-01
Language: en
Type: article
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Cited By Count: 14
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