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INS/GPS 강결합 기법에 대한 EKF와 UKF의 성능 비교
A Performance Comparison of Extended and Unscented Kalman Filters for INS/GPS Tightly Coupled Approach

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Authors
김광진; 박찬국; 유명종; 박영범
Issue Date
2006-08
Publisher
제어로봇시스템학회 = Institute of Control, Robotics and Systems
Citation
제어·자동화·시스템공학 논문지, 제12권, 제8호, pp. 780-788, 8. 2006
Keywords
INSGPStightly coupled approachkalman filterunscented transform
Abstract
This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the
nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an
accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the
sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo
range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results
show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is
demonstrated in case ofthe feedforward filer form.
ISSN
1225-9845
Language
Korean
URI
https://hdl.handle.net/10371/9663
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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