The application of optimal nonlinear/non-Gaussian filtering to the problem of INS/GPS integration in critical situations is described. This approach is made possible by a new technique called particle filtering, and exhibits superior performance when compared with classical suboptimal techniques such as extended Kalman filtering. Particle filtering theory is introduced and GPS/INS integration simulation results are discussed.
Optimal nonlinear filtering in GPS/INS integration
IEEE Transactions on Aerospace and Electronic Systems ; 33 , 3 ; 835-850
01.07.1997
1796908 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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