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Abstract:
In view of that there exist some defects when the extended Kalman filter (EKF) is applied in the nonlinear state-estimation, the square-root unscented Kalman filter (SRUKF), as a new nonlinear filtering method, is introduced to instead of the EKF for the state-estimation of the vehicle integrated GPS/DR navigation system. Compared with the EKF, the SRUKF not only improves the location precision and algorithmic stability greatly, but also avoids the calculating burden of Jacobian matrices. This data fusion algorithm based on the SRUKF is easy to implement, and meets the requirements of low-cost and high precision. In order to test the validity of the SRUKF, the two methods are used to estimate states of the vehicle integrated GPS/DR navigation systems. The results of simulation show that the SRUKF is superior to the EKF and is a more ideal nonlinear filtering method for the vehicle integrated GPS/DR navigation.
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Systems Engineering and Electronics
ISSN: 1001-506X
Year: 2008
Issue: 5
Volume: 30
Page: 926-928
Cited Count:
WoS CC Cited Count: 0
SCOPUS Cited Count:
ESI Highly Cited Papers on the List: 0 Unfold All
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Chinese Cited Count:
30 Days PV: 1