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Sensors 2016, 16(9), 1415; doi:10.3390/s16091415

A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems

1,2,3
and
1,3,*
1
School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China
2
College of Computer and Information Technology, Three Gorges University, Yichang 443000, China
3
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 22 May 2016 / Revised: 28 August 2016 / Accepted: 28 August 2016 / Published: 2 September 2016
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4100 KB, uploaded 2 September 2016]   |  

Abstract

This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method. View Full-Text
Keywords: strapdown inertial navigation system (SINS); unscented Kalman filters (UKF); integrated navigation; Euler angle kinematics; singularity strapdown inertial navigation system (SINS); unscented Kalman filters (UKF); integrated navigation; Euler angle kinematics; singularity
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Ran, C.; Cheng, X. A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems. Sensors 2016, 16, 1415.

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