TY - GEN
T1 - A federal UKF algorithm in INS/GPS/aerial image integrated attitude determination system
AU - Jing, Lili
AU - Xu, Lijun
AU - Li, Xiaolu
AU - Tian, Xiangrui
PY - 2013
Y1 - 2013
N2 - According to the attitude determination method based on aerial images, an INS/GPS/aerial-image integrated attitude determination system solutions was proposed to improve the airborne platform attitude determination accuracy and reliability. A federal Unscented Kalman Filter (UKF) algorithm based on optimization information distribution factor was used in the INS/GPS/aerial-image integrated system. The integrated system included INS/GPS and INS/aerial-image two subsystems, the outputs from two subsystems were fused in the main filter. Finally, optimal parameters of the system state estimation were obtained. Experimental results show that the proposed method well solves the error divergence problem over time with INS, and prevents the truncation error generated by EKF algorithm. The integrated attitude determination system can get higher precision and reliability.
AB - According to the attitude determination method based on aerial images, an INS/GPS/aerial-image integrated attitude determination system solutions was proposed to improve the airborne platform attitude determination accuracy and reliability. A federal Unscented Kalman Filter (UKF) algorithm based on optimization information distribution factor was used in the INS/GPS/aerial-image integrated system. The integrated system included INS/GPS and INS/aerial-image two subsystems, the outputs from two subsystems were fused in the main filter. Finally, optimal parameters of the system state estimation were obtained. Experimental results show that the proposed method well solves the error divergence problem over time with INS, and prevents the truncation error generated by EKF algorithm. The integrated attitude determination system can get higher precision and reliability.
KW - INS/GPS/aerial-image
KW - UKF
KW - integrated attitude determination system
UR - https://www.scopus.com/pages/publications/84894466696
U2 - 10.1109/IST.2013.6729663
DO - 10.1109/IST.2013.6729663
M3 - 会议稿件
AN - SCOPUS:84894466696
SN - 9781467357906
T3 - IST 2013 - 2013 IEEE International Conference on Imaging Systems and Techniques, Proceedings
SP - 60
EP - 63
BT - IST 2013 - 2013 IEEE International Conference on Imaging Systems and Techniques, Proceedings
T2 - 2013 IEEE International Conference on Imaging Systems and Techniques, IST 2013
Y2 - 22 October 2013 through 23 October 2013
ER -