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Volume 36 Issue 7
Jul.  2010
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Journal of Beijing University of Aeronautics and Astronautics  > 2010  >  36(7): 762-766.
LIU Jiu-wen. Designing Simulation of RF Low Noise Amplifier[J]. Journal of Beijing University of Aeronautics and Astronautics, 2000, 26(3): 259-262. (in Chinese)
Citation: Yuan Gannan, Zhang Tao. Quaternion unscented Kalman filtering for ultra-tight integration[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(7): 762-766. (in Chinese)
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Quaternion unscented Kalman filtering for ultra-tight integration

  • College of Automation, Harbin Engineering University, Harbin 150001, China

  • Received Date: 19 May 2009
  • Publish Date: 30 Jul 2010
    Abstract
  • Concerning the problem of the ultra-tightly coupled global positioning system/strapdown inertial navigation system (GPS/SINS) degraded in high dynamic and weak signal environments for linear filter, a quaternion unscented Kalman filter method was proposed. Firstly, analyzing the relationship between GPS and SINS of the ultra-tightly coupled GPS/SINS navigation system, an algorithm that using the SINS to estimate and correct the carrier signal of the GPS was derived, then the state and measurement equations was built. Secondly, concerning the problems of singularity and frequent parameter transformation for Rodrigus method, based on the multiplicative quaternion error model, a weighted averaging quaternion method that using the quaternion directly was proposed. Finally, the quaternion unscented Kalman filter method was proposed for the ultra-tightly coupled GPS/SINS navigation system. The simulation results indicate that the quaternion unsecured Kalman filter method is more robust to jamming and increases the position accuracy in high dynamic.

     

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    • References(1)
  • [1] Psiaki M L,Jung H.Extended Kalman filter methods for tracking weak GPS signals //Chris H.Proceeding of ION GPS 2002.Porland:Institute of Navigation,2002:2539-2553 [2] Ravindra B,Wang J L,Gottapu R.Analysis of ultra-tight GPS/INS integrated system for navigation performance //Heirer D.IEEE 2008 International conference on signal processing,communication and network.Vigo:IEEE Press,2008:234-237 [3] Pnay T R,Kaniuth B E.Deep Integration of navigation solution and signal processing //Chris B.Proceeding of ION GNSS 2005.Porland:Institute of Navigation,2005:1095-1102 [4] Crassidis J L,Markley F L.Unscented filtering for spacecraft attitude estimation[J].Journal of Guidance Control and Dynamics,2003,26(4):536-542 [5] 陈军,潘高峰.GPS软件接收机基础 [M] .北京:电子工业出版社,2007:58-59 Chen Jun,Pan Gaofeng.Fundamentals of global positioning system receivers a software approach [M].Beijing:Publishing House of Electronics Industry,2007:58-59(in Chinese) [6] Yee J C,Jong H K.Unscented filtering in a unit quaternion space for spacecraft attitude estimation //James C.IEEE International Symposium on Industrial Electronics.Vigo:IEEE Press,2007:66-71  [7] Wan E A,Merwe V D.Kalman filtering and neural networks [M].New York:Wiley-interscience Publication,2001:234-240
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