The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter

Guan Yu Yao, Kuan Yun Chen, Yu Wen Huang, Kai-Wei Chiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This study applies the AKF as the core estimator of a tightly-coupled INS/GPS integration scheme by tuning the measurement noise matrix R adaptively. The innovation sequence is used to derive the measurement weights through the covariance matrices R, which is known as innovation-based adaptive estimation. In the innovation-based adaptive estimation method implemented in study, the covariance matrix R are adapted when measurement update become available with time. A window based approach is implemented to reflect the quality of GPS pseudorange measurements by adaptively replace the measurement weights through the latest estimated covariance matrix R. To validate the performance of proposed AKF based tightly coupled INS/GPS integration scheme, a simulation scenario and a field test was conducted in the downtown area of Tainan city, respectively. The IMUs applied includes SPAN-CPT (1 deg/hr in run gyro bias) from NovAtel, which was used as the reference system, and one low end tactical grade IMU was applied as the test system. The preliminary results indicate the proposed algorithm is able to improve the accuracies of positional and orientation components of EKF based tightly coupled integration scheme by 70% and 70% in average respectively with the use of simulated measurements. In addition, the improvement ratio of proposed algorithm reaches 25% in positional components with the use of field test measurements. Consequently, the proposed AKF based tightly coupled INS/GPS integration scheme can provide the most consistent navigation solutions with sufficient sustainability in urban area.

Original languageEnglish
Title of host publication23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010
Pages1545-1553
Number of pages9
Publication statusPublished - 2010 Dec 1
Event23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010 - Portland, OR, United States
Duration: 2010 Sep 212010 Sep 24

Publication series

Name23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010
Volume2

Other

Other23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010
CountryUnited States
CityPortland, OR
Period10-09-2110-09-24

Fingerprint

Kalman filters
Global positioning system
Fusion reactions
Covariance matrix
Sensors
Innovation
Weighing
innovation
Sustainable development
Navigation
Tuning
city center
urban area
sustainability
scenario
simulation
trend
performance

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Communication

Cite this

Yao, G. Y., Chen, K. Y., Huang, Y. W., & Chiang, K-W. (2010). The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter. In 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010 (pp. 1545-1553). (23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010; Vol. 2).
Yao, Guan Yu ; Chen, Kuan Yun ; Huang, Yu Wen ; Chiang, Kai-Wei. / The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter. 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010. 2010. pp. 1545-1553 (23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010).
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abstract = "This study applies the AKF as the core estimator of a tightly-coupled INS/GPS integration scheme by tuning the measurement noise matrix R adaptively. The innovation sequence is used to derive the measurement weights through the covariance matrices R, which is known as innovation-based adaptive estimation. In the innovation-based adaptive estimation method implemented in study, the covariance matrix R are adapted when measurement update become available with time. A window based approach is implemented to reflect the quality of GPS pseudorange measurements by adaptively replace the measurement weights through the latest estimated covariance matrix R. To validate the performance of proposed AKF based tightly coupled INS/GPS integration scheme, a simulation scenario and a field test was conducted in the downtown area of Tainan city, respectively. The IMUs applied includes SPAN-CPT (1 deg/hr in run gyro bias) from NovAtel, which was used as the reference system, and one low end tactical grade IMU was applied as the test system. The preliminary results indicate the proposed algorithm is able to improve the accuracies of positional and orientation components of EKF based tightly coupled integration scheme by 70{\%} and 70{\%} in average respectively with the use of simulated measurements. In addition, the improvement ratio of proposed algorithm reaches 25{\%} in positional components with the use of field test measurements. Consequently, the proposed AKF based tightly coupled INS/GPS integration scheme can provide the most consistent navigation solutions with sufficient sustainability in urban area.",
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Yao, GY, Chen, KY, Huang, YW & Chiang, K-W 2010, The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter. in 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010. 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010, vol. 2, pp. 1545-1553, 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010, Portland, OR, United States, 10-09-21.

The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter. / Yao, Guan Yu; Chen, Kuan Yun; Huang, Yu Wen; Chiang, Kai-Wei.

23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010. 2010. p. 1545-1553 (23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010; Vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - This study applies the AKF as the core estimator of a tightly-coupled INS/GPS integration scheme by tuning the measurement noise matrix R adaptively. The innovation sequence is used to derive the measurement weights through the covariance matrices R, which is known as innovation-based adaptive estimation. In the innovation-based adaptive estimation method implemented in study, the covariance matrix R are adapted when measurement update become available with time. A window based approach is implemented to reflect the quality of GPS pseudorange measurements by adaptively replace the measurement weights through the latest estimated covariance matrix R. To validate the performance of proposed AKF based tightly coupled INS/GPS integration scheme, a simulation scenario and a field test was conducted in the downtown area of Tainan city, respectively. The IMUs applied includes SPAN-CPT (1 deg/hr in run gyro bias) from NovAtel, which was used as the reference system, and one low end tactical grade IMU was applied as the test system. The preliminary results indicate the proposed algorithm is able to improve the accuracies of positional and orientation components of EKF based tightly coupled integration scheme by 70% and 70% in average respectively with the use of simulated measurements. In addition, the improvement ratio of proposed algorithm reaches 25% in positional components with the use of field test measurements. Consequently, the proposed AKF based tightly coupled INS/GPS integration scheme can provide the most consistent navigation solutions with sufficient sustainability in urban area.

AB - This study applies the AKF as the core estimator of a tightly-coupled INS/GPS integration scheme by tuning the measurement noise matrix R adaptively. The innovation sequence is used to derive the measurement weights through the covariance matrices R, which is known as innovation-based adaptive estimation. In the innovation-based adaptive estimation method implemented in study, the covariance matrix R are adapted when measurement update become available with time. A window based approach is implemented to reflect the quality of GPS pseudorange measurements by adaptively replace the measurement weights through the latest estimated covariance matrix R. To validate the performance of proposed AKF based tightly coupled INS/GPS integration scheme, a simulation scenario and a field test was conducted in the downtown area of Tainan city, respectively. The IMUs applied includes SPAN-CPT (1 deg/hr in run gyro bias) from NovAtel, which was used as the reference system, and one low end tactical grade IMU was applied as the test system. The preliminary results indicate the proposed algorithm is able to improve the accuracies of positional and orientation components of EKF based tightly coupled integration scheme by 70% and 70% in average respectively with the use of simulated measurements. In addition, the improvement ratio of proposed algorithm reaches 25% in positional components with the use of field test measurements. Consequently, the proposed AKF based tightly coupled INS/GPS integration scheme can provide the most consistent navigation solutions with sufficient sustainability in urban area.

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M3 - Conference contribution

SN - 9781617827358

T3 - 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010

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BT - 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010

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Yao GY, Chen KY, Huang YW, Chiang K-W. The development of a tightly-coupled INS/GPS sensors fusion scheme using adaptive Kalman filter. In 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010. 2010. p. 1545-1553. (23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010).