Adaptive Kalman Filter for the Navigation System with Virtual Velocity Measurement

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Kim, Kwangjin; Park, Chan Gook; Yu, Myeong Jong
Issue Date
Proceedings of the European Control Conference 2007, Kos, Greece, July 2-5, 2007
In this paper, we propose an adaptive Kalman
filter for the INS/GPS navigation system with the virtual
velocity measurement under nonholonomic constraints. The
constraints that govern the motion of a land vehicle are used to
obtain velocity measurement during periods of GPS signal
outages. The velocity measurement is contaminated by
time-varying noise because the pure navigation velocity output
is influenced by the sensor errors, the vehicle velocity, etc. The
proposed filter can adaptively change the variance of the
measurement noise using the residual of the filter and guarantee
the bound of the variance. The proposed method is tested for a
land vehicle using two GPS receivers and a tactical grade INS.
The experimental results show that the adaptive filter provides
a reasonable solution to the problem of GPS signal outage.
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Others_기계항공공학부
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