Performance Comparison of Adaptive Kalman Filter with Kalman Filter in INS/GPS Integration
Publish place: 3rd International Conference on Electrical Engineering
Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICELE03_205
تاریخ نمایه سازی: 18 اسفند 1397
Abstract:
This paper investigates information integration of the inertial navigation system and global positioning system.Adaptive Kalman filter algorithm has been used to improve the accuracy of the navigation system. This algorithmcontinuously updates the measurement and system noise covariance by collecting the calculated and measured valuesin past and present times. The comparison of simulation results obtained from estimating position, velocity andorientation by Kalman filter and adaptive Kalman filter algorithms shows that the performance of adaptive Kalmanfilter has a significant improvement compared to that of Kalman filter.
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Authors
Morteza Moradi
MSc student, Electrical engineering – Control, Malek Ashtar University of Technology, Tehran
Sirous Talaei
MSc student, Electrical engineering – Control, Malek Ashtar University of Technology, Tehran
Ali Mohammad
Assistant professor, Electrical engineering – Control, Malek Ashtar University of Technology, Tehran
Saeed Nasrollahi
MSc, Electrical engineering – Control, Malek Ashtar University of Technology, Tehran