Design and Simulation of the Integrated Navigation System based on Extended Kalman Filter

作者：Zhou, Weidong; Hou, Jiaxin^*; Liu, Lu; Sun, Tian; Liu, Jing

来源：Open Physics, 2017, 15(1): 182-187.

DOI：10.1515/phys-2017-0019

• Integrated Navigation System
• Extended Kalman Filter
• Inertial Navigation System
• Global Positioning System
• Nonlinear system

The integrated navigation system is used to estimate the position, velocity, and attitude of a vehicle with the output of inertial sensors. This paper concentrates on the problem of the INS/GPS integrated navigation system design and simulation. The structure of the INS/GPS integrated navigation system is made up of four parts: 1) GPS receiver, 2) Inertial Navigation System, 3) Extended Kalman filter, and 4) Integrated navigation scheme. Afterwards, we illustrate how to simulate the integrated navigation system with the extended Kalman filter by measuring position, velocity and attitude. Particularly, the extended Kalman filter can estimate states of the nonlinear systemin the noisy environment. In extended Kalman filter, the estimation of the state vector and the error covariance matrix are computed by steps: 1) time update and 2) measurement update. Finally, the simulation process is implemented by Matlab, and simulation results prove that the error rate of statement measuring is lowerwhen applying the extended Kalman filter in the INS/GPS integrated navigation system.

• 出版日期2017
• 单位哈尔滨工程大学