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Sensors 2016, 16(8), 1215;

INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV

College of Automation, Harbin Engineering University; Harbin 150001, China
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 16 May 2016 / Revised: 19 July 2016 / Accepted: 28 July 2016 / Published: 2 August 2016
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [2174 KB, uploaded 2 August 2016]   |  


This paper addresses the problem of integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) for the purpose of developing a low-cost, robust and highly accurate navigation system for unmanned surface vehicles (USVs). A tightly-coupled integration approach is one of the most promising architectures to fuse the GNSS data with INS measurements. However, the resulting system and measurement models turn out to be nonlinear, and the sensor stochastic measurement errors are non-Gaussian and distributed in a practical system. Particle filter (PF), one of the most theoretical attractive non-linear/non-Gaussian estimation methods, is becoming more and more attractive in navigation applications. However, the large computation burden limits its practical usage. For the purpose of reducing the computational burden without degrading the system estimation accuracy, a quaternion-based adaptive unscented particle filter (AUPF), which combines the adaptive unscented Kalman filter (AUKF) with PF, has been proposed in this paper. The unscented Kalman filter (UKF) is used in the algorithm to improve the proposal distribution and generate a posterior estimates, which specify the PF importance density function for generating particles more intelligently. In addition, the computational complexity of the filter is reduced with the avoidance of the re-sampling step. Furthermore, a residual-based covariance matching technique is used to adapt the measurement error covariance. A trajectory simulator based on a dynamic model of USV is used to test the proposed algorithm. Results show that quaternion-based AUPF can significantly improve the overall navigation accuracy and reliability. View Full-Text
Keywords: unscented particle filter; INS/GPS integration; USV; tightly-coupled integration; quaternion unscented particle filter; INS/GPS integration; USV; tightly-coupled integration; quaternion

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Xia, G.; Wang, G. INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV. Sensors 2016, 16, 1215.

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