TY - GEN
T1 - INS/GPS integrated navigation for wheeled agricultural robot based on sigma-point kalman filter
AU - Zhang, Yuliang
AU - Gao, Feng
AU - Tian, Lei
PY - 2008
Y1 - 2008
N2 - This paper describes a numerical robust and computational efficient square-root central difference Kalman filter (SRCDKF) and put it into the application of state estimation of Inertial Navigation System (INS)/GPS integrated navigation for wheeled agricultural robot to overcome the flaws exist in EKF (Extended Kalman Filter). A standard INS mechanization with quaternion form attitude expression is introduced and a GPS antenna position compensated observation model is used. Based on the model above, both EKF and SRCDKF are implemented, and their performances are compared through simulation under several situations. Results indicate that the SRCDKF is much more robust and superior than EKF in the existence of large initial heading errors, short period of GPS outrage and low-cost IMU (Inertial Measurement Unit). It based a good foundation for the accurate and robust control of the agricultural robot.
AB - This paper describes a numerical robust and computational efficient square-root central difference Kalman filter (SRCDKF) and put it into the application of state estimation of Inertial Navigation System (INS)/GPS integrated navigation for wheeled agricultural robot to overcome the flaws exist in EKF (Extended Kalman Filter). A standard INS mechanization with quaternion form attitude expression is introduced and a GPS antenna position compensated observation model is used. Based on the model above, both EKF and SRCDKF are implemented, and their performances are compared through simulation under several situations. Results indicate that the SRCDKF is much more robust and superior than EKF in the existence of large initial heading errors, short period of GPS outrage and low-cost IMU (Inertial Measurement Unit). It based a good foundation for the accurate and robust control of the agricultural robot.
UR - https://www.scopus.com/pages/publications/58049183462
U2 - 10.1109/ASC-ICSC.2008.4675598
DO - 10.1109/ASC-ICSC.2008.4675598
M3 - 会议稿件
AN - SCOPUS:58049183462
SN - 9781424417872
T3 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
SP - 1425
EP - 1431
BT - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
T2 - 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing, ICSC 2008
Y2 - 10 October 2008 through 12 October 2008
ER -